NDLI: Embedding range information in omnidirectional images through laser range finder

Content Provider	IEEE Xplore Digital Library
Author	Bacca, E.B. Mouaddib, E. Cufi, X.
Copyright Year	2010
Description	Author affiliation: Research group VICOROB and the Department of Electronic, Computer Science and Automatic Engineering, University of Girona, 17071, Spain (Cufi, X.) \|\| University of Girona, 17071, Spain (Bacca, E.B.) \|\| Research lab of Modélisation, Information et Systèmes, Université de Picardie Jules Verne, 80039 Amiens, France (Mouaddib, E.)
Abstract	Robot map navigation and localization are challenging tasks that require the solving of the data association problem for local and global features. Data fusion allows the advantages of two or more sensors to be combined, and complementary cooperation can be obtained. This paper presents two methods to embed depth information in omnidirectional images using the extrinsic calibration of a 2D laser range finder and a central catadioptric camera. The methods presented do not require a visible laser beam, but they assume the planar checkerboard patterns are visible for both the catadioptric camera and the 2D laser range finder. Unlike other approaches, the methods proposed used an invisible laser trace, and they are evaluated at pixel error level using ground truth data from the calibration patterns projected in the omnidirectional image. Results include a mean square error analysis of all calibration poses, and laser point projection on indoor omnidirectional images. We think that embedding range information in omnidirectional images is an interesting tool for data fusion approaches, which can be used in robot map building and localization.
Starting Page	2053
Ending Page	2058
File Size	1054861
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652465
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Cameras Laser modes Minimization Parameter estimation Estimation
Content Type	Text
Resource Type	Article

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