NDLI: Mobile robot navigation and scene modeling using stereo fish-eye lens system

Content Provider	Springer Nature Link
Author	Shah, Shishir Aggarwal, J.K.
Copyright Year	1997
Abstract	We present an autonomous mobile robot navigation system using stereo fish-eye lenses for navigation in an indoor structured environment and for generating a model of the imaged scene. The system estimates the three-dimensional (3D) position of significant features in the scene, and by estimating its relative position to the features, navigates through narrow passages and makes turns at corridor ends. Fish-eye lenses are used to provide a large field of view, which images objects close to the robot and helps in making smooth transitions in the direction of motion. Calibration is performed for the lens-camera setup and the distortion is corrected to obtain accurate quantitative measurements. A vision-based algorithm that uses the vanishing points of extracted segments from a scene in a few 3D orientations provides an accurate estimate of the robot orientation. This is used, in addition to 3D recovery via stereo correspondence, to maintain the robot motion in a purely translational path, as well as to remove the effects of any drifts from this path from each acquired image. Horizontal segments are used as a qualitative estimate of change in the motion direction and correspondence of vertical segment provides precise 3D information about objects close to the robot. Assuming detected linear edges in the scene as boundaries of planar surfaces, the 3D model of the scene is generated. The robot system is implemented and tested in a structured environment at our research center. Results from the robot navigation in real environments are presented and discussed.
Starting Page	159
Ending Page	173
Page Count	15
File Format	PDF
ISSN	09328092
Journal	Machine Vision and Applications
Volume Number	10
Issue Number	4
e-ISSN	14321769
Language	English
Publisher	Springer-Verlag
Publisher Date	1997-12-01
Publisher Place	Berlin Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Computer Science Applications Software Hardware and Architecture

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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