Basic research on task-oriented omnidirectional image sensor

传统的电视摄像机在其视野范围内是有限的。提出了一种可实时获取360 °全方位视场的全方位摄像机，该摄像机可应用于自主导航、临场感、虚拟现实和远程监控等领域，研制了三种不同类型的全方位图像传感器，并由多个凸面镜和一台CCD摄像机组成了全方位视觉系统。在这个项目中，我们开发了几种全方位摄像机和用于这些摄像机的图像处理技术。结果如下：用于自主移动的机器人的非各向同性全方位成像系统基于图像记忆的全方位路线全景导航单摄像机多摄像机立体视觉用于全方位目标检测的复合折反射立体传感器利用全方位光流估计移动的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