A Computer Vision Sensor for Panoramic Depth Perception

Orghidan, Radu; Mouaddib, El Mustapha; Salví, Joaquím

doi:10.1007/11492429_19

Cited by 1 publication

(1 citation statement)

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“…It is clear that the multi-directional distance is more useful for free motion of a mobile robot in cluttered environment. The panoramic structured-light imaging systems were proposed in [10][11][12] to acquire omnidirectional distances. The omnidirectional distance data can be used not only for deciding the heading direction but also for the selflocalization and autonomous navigation by making a local object map and matching with a given global map.…”

Section: Introductionmentioning

confidence: 99%

Ring Arrangement of Active Ranging Sensor for Autonomous Mobile Robot

Kim¹,

Park²,

Yi³

2015

IJCA

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Distance measurement is essential for autonomous mobile robot. In this paper, development of a structured-light image based ranging system is addressed. In order to obtain omnidirectional distance data, the ranging sensor units are deployed in ring structure on a mobile robot. The omnidirectional distance information to surrounding objects is useful for making a local distance map and the self-localization of a mobile robot by matching the local map with a given global map. An efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed, which results in robust extraction of the structured-light pixels from a camera image against environmental ambient light. Experiments for the structured-light pixel extraction, distance computation, matching and localization are conducted to verify the performance of the proposed ranging system.

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Section: Introductionmentioning

confidence: 99%