Obtaining Obstacle Information by an Omnidirectional Stereo Vision System
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 epiploar 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.
Omnidirectional stereo vision catadioptric sensor depth recovery
Liancheng Su Chuanjiang Luo Feng Zhu
Optical-Electronic Information Laboratory Shenyang Institute of Automation (SIA), CAS, Shenyang, Lia Graduate School of the Chinese Academy of Sciences (CAS), Beijing, China Optical-Electronic Information Laboratory, Shenyang Institute of Automation (SIA), CAS, 114＃ Nanta S
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
48-52
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）