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Title: Range determination for mobile robots using an omnidirectional camera
Authors: Millnert, Ola ×
Goedemé, Toon
Tuytelaars, Tinne
Van Gool, Luc
Huentemann, Alexander
Nuttin, Marnix #
Issue Date: 2007
Publisher: I O S Press
Series Title: Integrated Computer-Aided Engineering vol:14 issue:1 pages:63-72
Abstract: We propose a method for computing the absolute distances to static obstacles using a single omnidirectional camera. The method is applied to mobile robots. We achieve this without restricting the application to predetermined translations or the use of artificial markers. In contrast to prior work, our method is able to build absolute scale 3D without the need of a known baseline length, traditionally acquired by odometry. Instead we use the ground plane assumption together with the camera system's height to determine the scale factor. Using only one omnidirectional camera our method is cheaper, more informative and more compact than the traditional methods for distance determination, especially when a robot is already equipped with a camera for e.g. navigation. It also provides more information since it determines distances in a 3D space instead of in one plane. The experiments show promising results. The algorithm is indeed capable of determining the distances in meters to features and obstacles and is able to locate all major obstacles in the scene.
Description: Millnert O., Goedemé T., Tuytelaars T., Van Gool L., Hüntemann A., Nuttin M., ''Range determination for mobile robots using an omnidirectional camera'', Integrated computer-aided engineering - special issue : informatics in control, automation and robotics, vol. 14, no. 1, pp. 63-72, 2007, IOS Press.
URI: 
ISSN: 1069-2509
Publication status: published
KU Leuven publication type: IT
Appears in Collections:ESAT - PSI, Processing Speech and Images
Production Engineering, Machine Design and Automation (PMA) Section
Technologiecluster ESAT Elektrotechnische Engineering
Electrical Engineering (ESAT) TC, Technology Campus De Nayer Sint-Katelijne-Waver
× corresponding author
# (joint) last author

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