Research on panoramie vision system of mobile robot

This paper presents an imaging method for 360-degree panoramic view based on four wide angle cameras. In order to complete the image mosaic, all the parameters such as focal length, principal point and distortion coefficients, etc are calibrated by our proposed calibration toolbox. Then, our approac...

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Bibliographic Details
Main Authors: Yao, Qiaobing, Yu, Hualong, Yang, Wankou, Sun, Changyin
Format: Conference Proceeding
Language:English
Subjects:
Cylindrical projection
Image mosaic. Camera calibration
LUTs
Machine vision
Mobile robots
Online Access:Request full text
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Description
Summary:This paper presents an imaging method for 360-degree panoramic view based on four wide angle cameras. In order to complete the image mosaic, all the parameters such as focal length, principal point and distortion coefficients, etc are calibrated by our proposed calibration toolbox. Then, our approach does not adopt the scheme which stitching all the images to the surrounding view after distortion correction. The proposed method directly calculates the mapping relationship between the wide-angle lens images and cylindrical projection images to generate lookup tables which can greatly simplifies the computation and reduces the loss of information in each image. Finally, panoramic image is composed by image registration and image fusion. Experimental results show that this method is valid.
ISSN:1948-9439
1948-9447
DOI:10.1109/CCDC.2015.7162619