Title :
Analysis of omni-directional views at different location
Author :
Ishiguro, Hiroshi ; Yamamoto, Masashi ; Tsuji, Saburo
Author_Institution :
Dept. of Control Eng., Osaka Univ., Japan
Abstract :
Omni-directional views of environment are analyzed to build a world model of an autonomous mobile robot. A panoramic view is yielded by arranging the vertical line at the center of each image taken by a camera attached on the robot. The panoramic view is featured by the cylindrical projection of a 3D line onto a sinusoidal curve. The following three issues are discussed: (1) projection of 3-D space onto the panoramic view; (2) epipolar curves for stereo matching; and (3) optical flow. A method for finding the 3D structure of an environment is proposed
Keywords :
computer vision; computerised pattern recognition; mobile robots; 3D line; 3D space projection; autonomous mobile robot; cylindrical projection; epipolar curves; machine vision; omni-directional views; optical flow; panoramic view; pattern recognition; sinusoidal curve; stereo matching; Azimuth; Cameras; Image motion analysis; Mobile robots; Optical imaging; Optical sensors; Orbital robotics; Robot kinematics; 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.1990.262478
