In this paper, we present experimental results obtained with the omnidirectional sensor SYCLOP "Conical SYstem for LOcalization and Perception" for localisation of mobile robots. This system, which is able to get a panoramic view of a 2/spl pi/ radian field, is made of a CCD camera and a vertically oriented conic shaped reflector. We give at first a method to calibrate the whole omnidirectional taking into account the transformations between the real world, the conical reflector and the picture. In the second part we carried out a localization method which uses a stereoscopic omnidirectional vision system. This system, in its experimental phase, is constituted of only one catadioptric sensor installed on a mechanical system making a rigid movement of transfer, permitting to get two views of the same scene. From these two pictures, we determine the robot's position with a matching stage which uses the sensorial obtained points and points listed on a theoretical model.


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    Title :

    Experimental results got with the omnidirectional vision sensor: SYCLOP


    Contributors:
    Brassart, E. (author) / Delahoche, L. (author) / Cauchois, C. (author) / Drocourt, C. (author) / Pegard, C. (author) / Mouaddib, E.M. (author)


    Publication date :

    2000-01-01


    Size :

    396833 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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