DocumentCode :
3456710
Title :
Obtaining Obstacle Information by an Omnidirectional Stereo Vision System
Author :
Su, Liancheng ; Luo, Chuanjiang ; Zhu, Feng
Author_Institution :
Opt.-Electron. Inf. Lab., Shenyang Inst. of Autom., Shenyang
fYear :
2006
fDate :
20-23 Aug. 2006
Firstpage :
48
Lastpage :
52
Abstract :
This study describes a method to obtain obstacle information omnidirectionally by a novel omnidirectional stereo vision system. Such information is important for mobile robots navigation. The omnidirectional stereo vision system is based on a common perspective camera coupled with two hyperbolic mirrors. Given two images of a space point acquired by this vision system, the 3D coordinates of the point can be calculated by means of triangulation. Then the study presents a full model of calibrating this vision system, which can be easily generalized to all kinds of catadioptic sensors. The images captured by the stereo vision system are unwrapped into panoramic images, which are then examined for stereo matching along vertical epipolar lines. An algorithm of the quick stereo edge matching method based on Canny edge detection is proposed. In the end we show the result of obstacle detection.
Keywords :
collision avoidance; edge detection; image matching; image sensors; mobile robots; navigation; robot vision; stereo image processing; Canny edge detection; catadioptic sensor; hyperbolic mirror; mobile robot navigation; obstacle detection; omnidirectional stereo vision system; panoramic image; stereo edge matching method; vertical epipolar line; Cameras; Content addressable storage; Machine vision; Mirrors; Mobile robots; Navigation; Optical sensors; Robot vision systems; Sensor systems; Stereo vision; Omnidirectional stereo vision; catadioptric sensor; depth recovery;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Acquisition, 2006 IEEE International Conference on
Conference_Location :
Shandong
Print_ISBN :
1-4244-0528-9
Electronic_ISBN :
1-4244-0529-7
Type :
conf
DOI :
10.1109/ICIA.2006.305769
Filename :
4097713
Link To Document :
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