Un Système de vision 3D omnidirectionnelle An Omnidirectional 3D vision sensor

Combining omnidirectional vision with polarization vision for robot navigation. (Apports combinés de la vision omnidirectionnelle et polarimétrique pour la navigation de robots)

Panoramic and 3D Computer Vision

Image sensor technology provides in recent years the tools for wideangle and high-resolution 3D recording, analysis and modeling of static or dynamic scenes, ranging from small objects such as artifacts in a museum to large-scale 3D models of a castle or 3D city maps, also allowing real time 3D data acquisition from a moving platform, such as in vision-based driver assistance. The paper documen...

3D model based tracking for omnidirectional vision: A new spherical approach

The current work addresses the problem of 3D model tracking in the context of monocular and stereo omnidirectional vision in order to estimate the camera pose. To this end, we track 3D objects modeled by line segments because the straight line feature is often used to model the environment. Indeed, we are interested in mobile robot navigation using omnidirectional vision in structured environme...

Pose Estimation from Uncertain Omnidirectional Image Data Using Line-Plane Correspondences

Omnidirectional vision is highly beneficial for robot navigation. We present a novel perspective pose estimation for omnidirectional vision involving a parabolic central catadioptric sensor using line-plane correspondences. We incorporate an appropriate and approved stochastic method to deal with uncertainties in the data.

An Omnidirectional Camera Simulation for the USARSim World

Omnidirectional vision is currently an important sensor in robotic research. The catadioptric omnidirectional camera with a hyperbolic convex mirror is a common omnidirectional vision system in the robotics research field as it has many advantages over other vision systems. This paper describes the development and validation of such a system for the RoboCup Rescue League simulator USARSim. Afte...