NDLI: Non-isotropic Omnidirectional Imaging System for an Autonomous Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Kondo, K. Yagi, Y. Yachida, M.
Copyright Year	2005
Description	Author affiliation: The Institute of Scientific and Industrial Research Osaka University Mihogaoka 8-1 Ibaragishi Osaka, Japan; kondo, yagi@am.sanken.osaka-u.ac.jp (Kondo, K.)
Abstract	A real-time omnidirectional imaging system that can acquire an omnidirectional field of view at video rate using a convex mirror was applied to a variety of conditions. The imaging system consists of an isotropic convex mirror and a camera pointing vertically toward the mirror with its optical axis aligned with the mirror's optical axis. Because of these optics, angular resolution is independent of the azimuth angle. However, it is important for a mobile robot to find and avoid obstacles in its path. We consider that angular resolution in the direction of the robot's moving needs higher resolution than that of its lateral view. In this paper, we propose a non-isotropic omnidirectional imaging system for navigating a mobile robot.
Starting Page	1228
Ending Page	1233
File Size	345988
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570283
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot vision systems Cameras Mirrors Image resolution Navigation Optical imaging High speed optical techniques Charge-coupled image sensors Intelligent sensors Discovering obstacles Mobile Robot Omnidirectional imaging system Distribution of resolution
Content Type	Text
Resource Type	Article

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