Self-positioning with an omni-directional stereo system

— This paper presents a self-positioning system for the mobile robot. The proposed positioning system consists of a stereo setup of two ODVs (Omni-Directional Vision) for obtaining a panoramic image and a disparity image. In general, images obtained by such a device have a relatively low spatial resolution and have some aberration in comparison to standard camera images and thus, considerable range estimation errors are caused. We propose a stereo set up of an ODV, which features two mirrors to minimize blurring influence. We also propose an edge-based intensity interpolation method, a bidirectional sub-pixel matching procedure, and a discontinuity compensation algorithm to reduce disparity error. The relative self-position and the heading angle can be estimated from the direction and the distance toward two landmarks. Comparison between the theoretical positioning accuracy based on the Cramer-Rao lower band and the experimental result in the field prove that both the ODV, the propos...

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Jyun-ichi Eino, Toshinobu Takashi, Jun-ichi Takiguchi, Takumi Hashizume
• Keywords: Bidirectional Sub-pixel Matching, Discontinuity Compensation Algorithm, ICRA 2003, Robotics, Stereo Matching Algorithm