Paper Info
Title
An omnidirectional stereoscopic system for mobile robot navigation
Abstract
This paper proposes a scheme for a 3D metric reconstruction of the environment of a mobile robot. We first introduce the advantages of a catadioptric stereovision sensor for autonomous navigation and how we have designed it with respect to the Single Viewpoint constraint. For applications such as path generation, the robot needs a metric reconstruction of its environment, so calibration of the sensor is required. After justification of the chosen model, a calibration method to obtain the model parameters and the relative pose of the two catadioptric sensors is presented. Knowledge of all the sensor parameters yields the 3D metric reconstruction of the environment by triangulation. Tools for calibration and relative pose estimation are presented and are available on the authorpsilas Web page. The entire process has been evaluated using real data.
Year
DOI
Venue
2008
10.1109/ROSE.2008.4669195
Ottawa, ON
Keywords
Field
DocType
calibration,image reconstruction,image sensors,mobile robots,pose estimation,robot vision,stereo image processing,3D metric environment reconstruction,Web page,catadioptric stereovision sensor,mobile robot navigation,omnidirectional stereoscopic system,pose estimation,single viewpoint constraint,calibration,omnidirectional sensor,stereovision
Iterative reconstruction,Computer vision,Image sensor,Robot calibration,Pose,Artificial intelligence,Mobile robot navigation,Robot,Geography,Mobile robot,Catadioptric system
Conference
ISBN
Citations 
PageRank 
978-1-4244-2595-2
4
0.42
References 
Authors
9
4
Name
Order
Citations
PageRank
Rémi Boutteau1122.31
Xavier Savatier211817.42
Jean-Yves Ertaud3315.23
belahcene mazari471.19