Title :
Panoramic representations of scenes around a point
Author :
Ishiguro, Hiroshi ; Yamamoto, Masashi ; Tsuji, Saburo
Author_Institution :
Yamanashi Univ., Japan
Abstract :
Presents a new sensing method, an omnidirectional stereo, to observe the environment around the robot. The omnidirectional stereo realized by swiveling a camera on the robot precisely yields a 2(1/2)D panoramic representation, a high resolution omnidirectional view with range estimates, of the world around the observation point. The panoramic representation is efficient as the vision of the mobile robot. An application of the panoramic representations in global map making by the mobile robot is discussed
Keywords :
computer vision; computerised pattern recognition; mobile robots; computer vision; global map making; mobile robot; omnidirectional stereo; panoramic representation; range estimates; Cameras; High-resolution imaging; Image resolution; Image sensors; Layout; Mobile robots; Optical imaging; Robot sensing systems; Robot vision systems; Spatial resolution;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174600
