Omnidirectional Vision, Workshop on (2000)
Hilton Head, South Carolina
June 16, 2000 to June 16, 2000
R. Benosman , Universit? Pierre et Marie Curie
E. Deforas , Universit? Pierre et Marie Curie
J. Devars , Universit? Pierre et Marie Curie
Classical video cameras have a limited field of view that makes them unsuitable for many applications. We present in this paper a new panoramic vision system developed for mobile platforms. This system allows a normal vision on the front; a mirror completes the 360-degree perception of the environment. The system has the advantage of allowing the use of classical methods usually applied to perspective projection images for all kind of tasks like navigation, auto-calibration, and reconstruction. Classical panoramic sensors based on mirrors produce highly distorted images; our sensor has been developed to avoid the use of special preprocessing steps. We will explain all along this paper the concept of this new sensor, its calibration methods and how to generate a 360-degree image.
R. Benosman, E. Deforas, J. Devars, "A New Catadioptric Sensor for the Panoramic Vision of Mobile Robots", Omnidirectional Vision, Workshop on, vol. 00, no. , pp. 112, 2000, doi:10.1109/OMNVIS.2000.853816