Design of a novel stereo vision navigation system for mobile robots

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 光电信息技术研究室

	Design of a novel stereo vision navigation system for mobile robots
	Su LC(苏连成); Zhu F(朱枫)
	2005
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2005)
会议日期	July 5-9, 2005
会议地点	Hong Kong, China
关键词	omnidirectional stereo vision catadioptric sensor vision navigation
页码	611-614
中文摘要	This paper presents a design method for a novel configured stereo vision navigation system for mobile robots, which is a catadioptric sensor called OSVOD (omnidirectional stereo vision optical device) based on a common perspective camera coupled with two hyperbolic mirrors. As the hyperbolic mirrors ensure a single viewpoint (SVP) the incident light rays are easily found from the points of the image. In OSVOD the two hyperbolic mirrors, which aligned coaxially and separately, share one focus that coincides with the camera center. So the geometry of OSVOD naturally ensures matched epipolar lines in the two images of the scene. The separation between the two mirrors provides a large baseline and eventually leads to a precise result. The properties mentioned above make OSVOD especially suitable for omnidirectional stereo vision because depth estimation is simple, fast and precise. This proposed system can be used for detecting obstacles by mobile robots, automatic mapping of environments and machine vision where fast and real-time calculations are needed.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2005 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-9315-5
WOS记录号	WOS:000241317800111
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7971]
专题	沈阳自动化研究所_光电信息技术研究室
推荐引用方式 GB/T 7714	Su LC,Zhu F. Design of a novel stereo vision navigation system for mobile robots[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2005). Hong Kong, China. July 5-9, 2005.