Title :
Navigation using a spherical camera
Author :
Arora, Raman ; Parthasarathy, Harish
Author_Institution :
Univ. Of Wisconsin-Madison, Madison, WI, USA
Abstract :
A novel group theoretical method is proposed for autonomous navigation based on a spherical image camera. The environment of a robot is captured on a sphere. The three dimensional scenes at two different points in the space are related by a transformation from the special Euclidean motion group which is the semi-direct product of the rotation and the translation groups. The motion of the robot is recovered by iteratively estimating the rotation and the translation in an expectation-maximization fashion.
Keywords :
control engineering computing; expectation-maximisation algorithm; image sensors; path planning; robot vision; Euclidean motion; autonomous navigation; expectation-maximization fashion; iterative approach; robot vision; spherical image camera; three dimensional scenes; Cameras; Layout; Matched filters; Medical robotics; Navigation; Orbital robotics; Robot kinematics; Robot vision systems; Robotics and automation; Space technology;
Conference_Titel :
Pattern Recognition, 2008. ICPR 2008. 19th International Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
978-1-4244-2174-9
Electronic_ISBN :
1051-4651
DOI :
10.1109/ICPR.2008.4761897
