Real-time omni-directional distance measurement with active panoramic vision
Real-time omni-directional distance measurement with active panoramic vision
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DOI：
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发表时间：
2007-04
影响因子：
3.2
通讯作者：
S. Yi;Byoung-Wook Choi;N. Ahuja
中科院分区：
文献类型：
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作者：
S. Yi;Byoung-Wook Choi;N. Ahuja
移动的机器人的自主导航需要一个测距系统来测量到环境物体的距离。很明显，更宽和更快的距离测量为移动的机器人在轨迹规划和控制方面提供了更大的自由度。本文提出的主动式全向测距系统，由于采用了全向反射镜和结构光，能够实时获得3600个方向的距离。距离计算，包括灵敏度分析和实验的全向测距，以验证所提出的系统的有效性。
Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional mirror and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni- directional ranging are presented to verify the effectiveness of the proposed system.