Basic research on task-oriented omnidirectional image sensor

传统的电视摄像机视野有限。介绍了一种实时全向摄像机，该摄像机可在视频速率下获得全方位(360度)视场，可应用于自主导航、远程呈现、虚拟现实和远程监控等领域。我们研制了三种不同类型的全向图像传感器，并由多个凸面镜和单个CCD摄像机组成复合全向视觉系统。在本项目中，我们为这些摄像机开发了几种全向摄像机和图像处理技术。结果如下：自主移动机器人的非各向同性全向成像系统基于图像记忆的全向路径全景导航单摄像机多镜立体视觉用于全方位目标检测的复合式折射式立体传感器利用全向光流估计移动机器人的滚动和摇摆运动步态体积：步行的时空分析

Conventional T.V. cameras are limited in their field of view. A real-time omnidirectional camera which can acquire an omnidirectional (360 degrees) field of view at video rate and which could be applied in a variety of fields, such as autonomous navigation, tele-presence, virtual reality and remote monitoring, is presented.We have developed three different types of omnidirectional image sensors, and compounded omnidirectional vision system which consist of multiple convex mirrors and a single CCD camera. In this project, we developed several omnidirectional cameras and image processing techniques for these camerasResults are as followNon-isotropic Omnidirectional Imaging System for an Autonomous Mobile RobotIconic Memory-Based Omnidirectional Route Panorama NavigationStereo Vision with a Single Camera and Multiple MirrorsCompound Catadioptric Stereo Sensor for Omnidirectional Object DetectionRolling and Swaying Motion Estimation for Mobile Robot by using Omnidirectional Optical FlowsGait Volume : Spatio-Temporal Analysis of Walking