Design of a novel stereo vision navigation system for mobile robots
文献类型：会议论文
| 作者 | Su LC(苏连成); Zhu F(朱枫)
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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