Article ID Journal Published Year Pages File Type
10327070 Robotics and Autonomous Systems 2005 13 Pages PDF
Abstract
An estimation of distance (range) over a large surrounding area is crucial in mobile robotics. A solution is proposed here in the form of an omnidirectional stereo apparatus with two catadioptric sensors in a vertical coaxial arrangement. The coaxial stereo requires very simple matching since the epipolar lines are the radial lines of identical orientations in both omnidirectional images. The radial matching is supported by a novel polar edge finder which uses discrete cosine transform and returns image gradients expressed in polar coordinates.
Related Topics
Physical Sciences and Engineering Computer Science Artificial Intelligence
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