Panorama scene analysis with conic projection

Author

Yagi, Yasushi ; Kawato, Shinjiro

Author_Institution

Ind. Electron. & Syst. Dev. Lab., Mitsubishi Electr. Corp., Hyogo, Japan

fYear

1990

fDate

3-6 Jul 1990

Firstpage

181

Abstract

Proposes a conic projection image sensor (COPIS) as a navigation sensor on a mobile robot. The COPIS system is a new global positioning system which is able to get omnidirectional view information from one frame of a panoramic image. Thus, camera scanning is unnecessary. The authors report the configuration of the COPIS and its application to generate an environmental map of an indoor corridor from a moving robot. An object location is calculated from the image locus of vertical edges and the distance of the robot movement. The method uses common properties to many indoor environments rather than the geometrical world model

Keywords

computer vision; computerised navigation; image sensors; mobile robots; position control; COPIS; computer vision; conic projection image sensor; environmental map; geometrical world model; global positioning system; image locus; mobile robot; navigation sensor; object location; Cameras; Image analysis; Image sensors; Lenses; Machine vision; Mirrors; Mobile robots; Navigation; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262385

Filename

262385