OBTAINING OBSTACLE INFORMATION BY AN OMNIDIRECTIONAL STEREO VISION SYSTEM

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	OBTAINING OBSTACLE INFORMATION BY AN OMNIDIRECTIONAL STEREO VISION SYSTEM
	Su LC(苏连成); Luo CJ(罗川江); Zhu F(朱枫)
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2009
卷号	24 期号:3 页码:222-227
关键词	Omnidirectional stereo vision catadioptric sensor depth recovery environmental modelling
ISSN号	0826-8185
产权排序	1
中文摘要	This study describes a method to obtain obstacle information directionally by a novel omnidirectional stereo vision system. Such information is important for mobile robots navigation. The omnidirectional stereo vision system is based on a common perspective camera coupled with two hyperbolic mirrors. Given two images of a space point, acquired by this vision system, the 3D coordinates of the point can he calculated by means of a triangulation. Then, a full model of calibrating this vision system is presented, which can be easily generalized to all kinds of catadioptic sensors. The images captured by the stereo vision system are unwrapped into panoramic images, which are then examined for stereo matching along vertical epiploar lines. An algorithm of the quick stereo edge matching method based on Canny edge detection is proposed, and the result of obstacle detection is shown as well.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Robotics
研究领域[WOS]	Automation & Control Systems ; Robotics
关键词[WOS]	CAMERA CALIBRATION ; ROBOT NAVIGATION
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000268644300008
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7160]
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,Luo CJ,Zhu F. OBTAINING OBSTACLE INFORMATION BY AN OMNIDIRECTIONAL STEREO VISION SYSTEM[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2009,24(3):222-227.
APA	Su LC,Luo CJ,&Zhu F.(2009).OBTAINING OBSTACLE INFORMATION BY AN OMNIDIRECTIONAL STEREO VISION SYSTEM.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,24(3),222-227.
MLA	Su LC,et al."OBTAINING OBSTACLE INFORMATION BY AN OMNIDIRECTIONAL STEREO VISION SYSTEM".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 24.3(2009):222-227.