OBTAINING OBSTACLE INFORMATION BY AN OMNIDIRECTIONAL STEREO VISION SYSTEM
文献类型：期刊论文
| 作者 | Su LC(苏连成); Luo CJ(罗川江); Zhu F(朱枫)
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。