New eyes for robotics

Author

Baker, Patrick ; Ogale, Abhijit S. ; Fermüller, Cornelia ; Aloimonos, Yiannis

Author_Institution

Center for Autom. Res., Maryland Univ., College Park, MD, USA

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

1018

Abstract

This paper describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system´s own motion and consequently the estimation of shape models from the individual cameras. The reason is that inherent ambiguities of confusion between translation and rotation disappear. Pairs of cameras may also be arranged in multiple stereo configurations which provide additional advantages for segmentation. Algorithms for the calibration of the system and the 3D motion estimation are provided.

Keywords

array signal processing; calibration; cameras; imaging; motion estimation; robot vision; 3D motion estimation; Argus eye; calibration; cameras; geometric configuration; imaging system; multiple stereo configurations; robotics; shape models; Birds; Cameras; Control systems; Eyes; Layout; Motion estimation; Robot kinematics; Robot vision systems; Robotics and automation; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250761

Filename

1250761