Title :
Technique for calibrating an omnidirectional sensor
Author :
Cauchois, Cyril ; Brassart, Eric ; Pegard, Claude ; Clerentin, Arnaud
Author_Institution :
GRACSY, Amiens, France
Abstract :
In this paper we present a method to calibrate our omnidirectional sensor named SYCLOP (“Conic System for Localization and Perception”). Actually this sensor is installing on the mobile robot SARAH, and it is able to rake a panoramic image of the environment. From this image we can localize the mobile robot using natural beacon detection. In order to have a better precision in beacons detection than that obtained in classical applications using this kind of sensors, we bring to the fore the importance of calibration for the whole sensor. We will show to the end of this paper different result obtained in real trajectory
Keywords :
calibration; image sensors; mobile robots; position measurement; robot vision; SARAH; SYCLOP; conic system; localization; mobile robot; natural beacon detection; omnidirectional sensor calibration; perception; Calibration; Cameras; Computational modeling; Image sensors; Machine vision; Mobile robots; Optical distortion; Optical sensors; Robot sensing systems; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812999
