Rolling motion estimation for mobile robot by using omnidirectional image sensor HyperOmniVision
- 1 January 1996
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 946-950 vol.1
- https://doi.org/10.1109/icpr.1996.546163
Abstract
Described here is a method for estimating a rolling motion of a mobile robot from optical flows. We have proposed an image sensor with a hyperboloidal mirror for vision based navigation of the mobile robot. Its name is HyperOmniVision. This sensing system can acquire an omnidirectional view around the robot, in real-time, with use of the hyperboloidal mirror. The radial component of optical flow in HyperOmniVision has a periodic characteristic. The proposed method makes use of this characteristic to estimate robustly the rolling motion of the robot.Keywords
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