Obtaining obstacle information by an omnidirectional stereo vision system
文献类型：会议论文
| 作者 | Su LC(苏连成); Luo CJ(罗川江); Zhu F(朱枫)
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| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Information Acquisition |
| 会议日期 | August 20-23, 2006 |
| 会议地点 | Weihai, China |
| 关键词 | omnidirectional stereo vision catadioptric sensor depth recovery |
| 页码 | 48-52 |
| 中文摘要 | This study describes a method to obtain obstacle information omnidirectionally 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 be calculated by means of triangulation. Then the study presents a full model of calibrating this vision system, 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. In the end we show the result of obstacle detection. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, CAS, Inst Intelligent Machines, Chinese Univ Hong Kong, Int Assoc Informat Acquisit, Int Journal Informat Acquisit |
| 会议录 | 2006 IEEE International Conference on Information Acquisition, Vols 1 and 2, Conference Proceedings
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0528-9 |
| WOS记录号 | WOS:000242935800010 |
| 源URL | [http://ir.sia.cn/handle/173321/8001]  |
| 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[C]. 见:IEEE International Conference on Information Acquisition. Weihai, China. August 20-23, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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