A vision system for remote control of mobile robot to enlarge field of view in horizontal and vertical

We propose a vision system consists of two cameras, a camera with wide-lens and an omni-directional camera, to acquire an image useful for remote control of mobile robots. Two camera images are combined to enlarge the field of view in horizontal and vertical. In addition, markers fixed on the robot can be observed in the bottom part of the acquired image and used as a reference to recognize position and orientation of the robot in the environment. We implemented and tested a prototype system which has horizontal 200 degree and vertical 180 degree of field of view. In this article, we describe about the configuration of the proposed vision system, detail of image combination process and projection model, and experiments for evaluation.