Flexible, reconfigurable vision systems can provide an extremely rich sensing modality for sophisticated multiple robot platforms. We propose a cooperative and adaptive approach of panoramic vision to the problem of finding and protecting humans by a robot team in an emergency circumstance (e.g., a rescue in an office building). A panoramic virtual stereo vision method is proposed for this cooperative approach, which features omni-directional visual sensors, cooperative mobile platforms, selected 3D matching, and real-time moving object (people) detection and tracking. The problems of dynamic self-calibration and robust 3D estimation of moving objects are discussed. A careful error analysis of the panoramic stereo triangulation is presented in order to derive rules for optimal view planning. Experimental results are given for detecting and localizing multiple moving objects using two cooperative robot platforms.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Panoramic virtual stereo vision of cooperative mobile robots for localizing 3D moving objects


    Contributors:


    Publication date :

    2000-01-01


    Size :

    887067 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Panoramic Virtual Stereo Vision of Cooperative Mobile Robots for Localizing 3D Moving Objects

    Zhu, Z. / Rajasekar, K. / Riseman, E. et al. | British Library Conference Proceedings | 2000


    Dynamic mutual calibration and view planning for cooperative mobile robots with panoramic virtual stereo vision

    Zhu, Z. / Karuppiah, D. R. / Riseman, E. M. et al. | British Library Online Contents | 2004


    Stereo panoramic vision for monitoring vehicle blind-spots

    Matuszyk, L. / Zelinsky, A. / Nilsson, L. et al. | IEEE | 2004


    A new catadioptric sensor for the panoramic vision of mobile robots

    Benosman, R. / Deforas, E. / Devars, J. | IEEE | 2000


    A New Catadioptric Sensor for the Panoramic Vision of Mobile Robots

    Benosman, R. / Deforas, E. / Devars, J. et al. | British Library Conference Proceedings | 2000