Panorama scene analysis with conic projection

Panorama scene analysis with conic projection
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使用圆锥投影进行全景场景分析

DOI：
10.1109/iros.1990.262385
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发表时间：
1990
期刊：
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications
影响因子：
--
通讯作者：
S. Kawato
S. Kawato
中科院分区：
--
文献类型：
--
作者：
Y. Yagi;S. Kawato

文献摘要

被引文献

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提出了一种圆锥投影图像传感器(COPIS)作为移动机器人的导航传感器。COPIS系统是一种新的全球定位系统，它能够从一帧全景图像中获得全方位的视角信息。因此，相机扫描是不必要的。作者报告了COPIS的配置及其在从移动机器人生成室内走廊环境地图的应用。根据垂直边缘的图像轨迹和机器人移动的距离来计算对象位置。该方法使用了许多室内环境的共同性质，而不是几何世界模型。
Proposes a conic projection image sensor (COPIS) as a navigation sensor on a mobile robot. The COPIS system is a new global positioning system which is able to get omnidirectional view information from one frame of a panoramic image. Thus, camera scanning is unnecessary. The authors report the configuration of the COPIS and its application to generate an environmental map of an indoor corridor from a moving robot. An object location is calculated from the image locus of vertical edges and the distance of the robot movement. The method uses common properties to many indoor environments rather than the geometrical world model.<<ETX>>