NDLI: Obtaining Obstacle Information by an Omnidirectional Stereo Vision System

Content Provider	IEEE Xplore Digital Library
Author	Liancheng Su Chuanjiang Luo Feng Zhu
Copyright Year	2006
Description	Author affiliation: Opt.-Electron. Inf. Lab., Shenyang Inst. of Autom., Shenyang (Liancheng Su; Chuanjiang Luo)
Abstract	This study describes a method to obtain obstacle information omnidirectionally by a novel omnidirectional stereo vision system. Such information is important for mobile robots navigation. The omnidirectional stereo vision system is based on a common perspective camera coupled with two hyperbolic mirrors. Given two images of a space point acquired by this vision system, the 3D coordinates of the point can be calculated by means of triangulation. Then the study presents a full model of calibrating this vision system, which can be easily generalized to all kinds of catadioptic sensors. The images captured by the stereo vision system are unwrapped into panoramic images, which are then examined for stereo matching along vertical epipolar lines. An algorithm of the quick stereo edge matching method based on Canny edge detection is proposed. In the end we show the result of obstacle detection.
Starting Page	48
Ending Page	52
File Size	5293885
Page Count	5
File Format	PDF
ISBN	1424405289
DOI	10.1109/ICIA.2006.305769
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	depth recovery Navigation Robot vision systems Sensor systems Mobile robots catadioptric sensor Content addressable storage Omnidirectional stereo vision Machine vision Cameras Stereo vision Mirrors Optical sensors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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