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.
Experimental results got with the omnidirectional vision sensor: SYCLOP
2000-01-01
396833 byte
Conference paper
Electronic Resource
English
Experimental Results got with the Omnidirectional Vision Sensor: Syclop
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