The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

In this paper, we describe our work on a robot navigation system using an omnidirectional camera as the primary sensor. An omnidirectional structure from motion algorithm is presented with its uncertainty analyzed. We evaluate the omnidirectional SFM on both synthetic data and on real image sequences. Comparison with the conventional camera is made and we show that in certain situations the omnidirectional SFM gives better results than the conventional one by taking advantage of its larger field of view.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Peng Chang and Martial Hebert, "Omni-directional structure from motion," Proceedings of the 2000 IEEE Workshop on Omnidirectional Vision, June, 2000, pp. 127 - 133.

BibTeX Reference

@inproceedings{Chang_2000_3597,
   author = "Peng Chang and Martial Hebert",
   title = "Omni-directional structure from motion",
   booktitle = "Proceedings of the 2000 IEEE Workshop on Omnidirectional Vision",
   pages = "127 - 133",
   month = "June",
   year = "2000",
}

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