Omnidirectional Shape-from-Motion for Autonomous Navigation
نویسندگان
چکیده
Algorithms for shape-from-motion simultaneously estimate camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera’s wide field of view and lack of degenerate motions. In this paper, we present two shapefrom-motion algorithms and a precise calibration technique for equiangular omnidirectional cameras, which are targeted at providing robust motion estimates for autonomous ground rovers and flying vehicles.
منابع مشابه
Free Space Detection from Catadioptric Omnidirectional Images for Visual Navigation using Optical Flow
In this paper, we develop a free space detection algorithm for the visual navigation of the autonomous robot mounting a catadioptiric omnidirectional imaging system. The algorithm detects the dominant plane as the free space from a sequence of omnidirectional images captured by a camera mounted on the autonomous robot. The dominant plane, which can be detected from the optical-flow field, is th...
متن کاملEstimating Hay Bale Position with Stereo Vision Technique using an Omnidirectional Camera
In path planning of autonomous agriculture vehicles, detecting and identifying obstacles, and taking appropriate collision avoidance measures are critical for safe operation. The goal of this research was to obtain the hay bale distance and position to be used in real-time obstacle avoidance detection for autonomous robot tractors using stereo vision system. The vision system was an omnidirecti...
متن کاملImage-based memory for robot navigation using properties of omnidirectional images
This paper proposes a new technique for vision-based robot navigation. The basic framework is to localise the robot by comparing images taken at its current location with reference images stored in its memory. In this work, the only sensor mounted on the robot is an omnidirectional camera. The Fourier components of the omnidirectional image provide a signature for the views acquired by the robo...
متن کاملLocation estimation for indoor autonomous vehicle navigation by omni-directional vision using circular landmarks on ceilings
A novel approach to location estimation by omni-directional vision for autonomous vehicle navigation in indoor environments using circular landmark information is proposed. A circular-shaped landmark is attached on a ceiling and an omni-directional camera is equipped on a vehicle to take upwardlooking omni-directional images of the landmark. This way of image taking reduces possible landmark sh...
متن کامل