Nowadays, computer vision is an essential part of modern autonomous mobile robots. Fisheye cameras are employed to capture large scenes with a single camera, but the hard radial distortion limits the accuracy of measurements. In this research, a vision system with multiple low-distortion cameras to capture large flat scenes from different viewpoints is proposed. This system applies a homography-based image mosaicing method and linear image interpolation. The obtained results show that the proposed system is useful for visual navigation of ground mobile robots.
Image mosaicing for visual feedback in ground robot navigation
Optics and Photonics for Information Processing XV ; 2021 ; San Diego,California,United States
Proc. SPIE ; 11841
2021-08-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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