Conference Proceeding

Omnidirectional stereo systems for robot navigation

University of Genoa, Italy
Proceedings / CVPR, IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society Conference on Computer Vision and Pattern Recognition 07/2003; DOI:10.1109/CVPRW.2003.10076 ISBN: 0-7695-1900-8 pp.79 - 79 In proceeding of: Computer Vision and Pattern Recognition Workshop, 2003. CVPRW '03. Conference on, Volume: 7
Source: IEEE Xplore

ABSTRACT This paper discusses how stereo vision achieved through the use of omnidirectional sensors can help mobile robot navigation providing advantages, in terms of both versatility and performance, with respect to the classical stereo system based on two horizontally-displaced traditional cameras. The paper also describes an automatic calibration strategy for catadioptric omnidirectional sensors and results obtained using a stereo obstacle detection algorithm devised within a general framework in which, with some limitations, many existing algorithm designed for traditional cameras can be adapted for use with omnidirectional sensors.

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Keywords

automatic calibration strategy
 
catadioptric omnidirectional sensors
 
classical stereo system
 
general framework
 
mobile robot navigation
 
omnidirectional sensors
 
versatility