Title :
Panorama scene analysis with conic projection
Author :
Yagi, Yasushi ; Kawato, Shinjiro
Author_Institution :
Ind. Electron. & Syst. Dev. Lab., Mitsubishi Electr. Corp., Hyogo, Japan
Abstract :
Proposes a conic projection image sensor (COPIS) as a navigation sensor on a mobile robot. The COPIS system is a new global positioning system which is able to get omnidirectional view information from one frame of a panoramic image. Thus, camera scanning is unnecessary. The authors report the configuration of the COPIS and its application to generate an environmental map of an indoor corridor from a moving robot. An object location is calculated from the image locus of vertical edges and the distance of the robot movement. The method uses common properties to many indoor environments rather than the geometrical world model
Keywords :
computer vision; computerised navigation; image sensors; mobile robots; position control; COPIS; computer vision; conic projection image sensor; environmental map; geometrical world model; global positioning system; image locus; mobile robot; navigation sensor; object location; Cameras; Image analysis; Image sensors; Lenses; Machine vision; Mirrors; Mobile robots; Navigation; Robot sensing systems; Robot vision systems;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262385
