Panoramic representations of scenes around a point

H. Ishiguro, Masashi Yamamoto, S. Tsuji
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引用次数: 6

Abstract

Presents a new sensing method, an omnidirectional stereo, to observe the environment around the robot. The omnidirectional stereo realized by swiveling a camera on the robot precisely yields a 2(1/2)D panoramic representation, a high resolution omnidirectional view with range estimates, of the world around the observation point. The panoramic representation is efficient as the vision of the mobile robot. An application of the panoramic representations in global map making by the mobile robot is discussed.<>
一个点周围场景的全景表示
提出了一种新的感知方法——全向立体视觉来观察机器人周围的环境。通过旋转机器人上的摄像头实现的全方位立体视觉精确地产生2(1/2)D全景表示,这是一种具有距离估计的高分辨率全方位视图,可以看到观察点周围的世界。全景表示作为移动机器人的视觉是有效的。讨论了全景表示在移动机器人全局地图制作中的应用。
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