DocumentCode
2491109
Title
Navigation using a spherical camera
Author
Arora, Raman ; Parthasarathy, Harish
Author_Institution
Univ. Of Wisconsin-Madison, Madison, WI, USA
fYear
2008
fDate
8-11 Dec. 2008
Firstpage
1
Lastpage
4
Abstract
A novel group theoretical method is proposed for autonomous navigation based on a spherical image camera. The environment of a robot is captured on a sphere. The three dimensional scenes at two different points in the space are related by a transformation from the special Euclidean motion group which is the semi-direct product of the rotation and the translation groups. The motion of the robot is recovered by iteratively estimating the rotation and the translation in an expectation-maximization fashion.
Keywords
control engineering computing; expectation-maximisation algorithm; image sensors; path planning; robot vision; Euclidean motion; autonomous navigation; expectation-maximization fashion; iterative approach; robot vision; spherical image camera; three dimensional scenes; Cameras; Layout; Matched filters; Medical robotics; Navigation; Orbital robotics; Robot kinematics; Robot vision systems; Robotics and automation; Space technology;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 2008. ICPR 2008. 19th International Conference on
Conference_Location
Tampa, FL
ISSN
1051-4651
Print_ISBN
978-1-4244-2174-9
Electronic_ISBN
1051-4651
Type
conf
DOI
10.1109/ICPR.2008.4761897
Filename
4761897
Link To Document