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ICRA
2003
IEEE

Self-positioning with an omni-directional stereo system

10 years 5 months ago
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...
Jyun-ichi Eino, Toshinobu Takashi, Jun-ichi Takigu
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Jyun-ichi Eino, Toshinobu Takashi, Jun-ichi Takiguchi, Takumi Hashizume
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