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 omnidirectionalsensors 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.
Omnidirectional stereo systems for robot navigation / Adorni, G.; Cagnoni, Stefano; Mordonini, Monica; Sgorbissa, A.. - (2003). (Intervento presentato al convegno OMNIVIS 2003 tenutosi a Madison, WI, USA nel Giugno 2003).
Omnidirectional stereo systems for robot navigation
CAGNONI, Stefano;MORDONINI, Monica;
2003-01-01
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 omnidirectionalsensors 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.File | Dimensione | Formato | |
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