TY - GEN
T1 - Catadioptric omni-direction vision system based on laser illumination
AU - Li, Yuan
AU - Wang, Qinglin
PY - 2013
Y1 - 2013
N2 - Vision sensing, especially omni-directional vision can provide rich environmental information for mobile robots. However, there are several challenges in modeling and image processing of omni-directional vision, such as serious distortion and complicate image contents. This paper investigates laser structured lights based omni-directional vision, and develops the general relation between the image plane and laser plane with different convex mirrors. Therefore, the scene depth information can be obtained for map building. Simulation results show the measurement sensitivity of the four vision system. Environment measurement experiments were conducted on a mobile robot platform with the presented vision system, and the experimental results verify the vision system.
AB - Vision sensing, especially omni-directional vision can provide rich environmental information for mobile robots. However, there are several challenges in modeling and image processing of omni-directional vision, such as serious distortion and complicate image contents. This paper investigates laser structured lights based omni-directional vision, and develops the general relation between the image plane and laser plane with different convex mirrors. Therefore, the scene depth information can be obtained for map building. Simulation results show the measurement sensitivity of the four vision system. Environment measurement experiments were conducted on a mobile robot platform with the presented vision system, and the experimental results verify the vision system.
KW - map building
KW - mobile robot
KW - omni-direction vision
KW - structured light
UR - https://www.scopus.com/pages/publications/84881619813
U2 - 10.1109/ISIE.2013.6563821
DO - 10.1109/ISIE.2013.6563821
M3 - Conference contribution
AN - SCOPUS:84881619813
SN - 9781467351942
T3 - IEEE International Symposium on Industrial Electronics
BT - 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
T2 - 2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
Y2 - 28 May 2013 through 31 May 2013
ER -