Due to their wide field of view, omnidirectional cameras are becoming ubiquitous in many mobile robotic applications. A challenging problem consists of using these sensors, mounted on mobile robotic platforms, as visual compasses (VCs) to provide an estimate of the rotational motion of the camera/robot from the omnidirectional video stream. Existing VC algorithms suffer from some practical limitations, since they require a precise knowledge either of the camera-calibration parameters, or the 3-D geometry of the observed scene. In this paper we present a novel multiple-view geometry constraint for paracatadioptric views of lines in 3-D, that we use to design a VC algorithm that does not require either the knowledge of the camera calibration parameters, or the 3-D scene geometry. In addition, our algorithm runs in real time since it relies on a closed-form estimate of the camera/robot rotation, and can address the image-feature correspondence problem. Extensive simulations and experiments with real robots have been performed to show the accuracy and robustness of the proposed method.

G. L., M., Scheggi, S., F., M., Prattichizzo, D. (2012). An Accurate and Robust Visual-Compass Algorithm for Robot-mounted Omnidirectional Cameras. ROBOTICS AND AUTONOMOUS SYSTEMS, 60(9), 1179-1190 [10.1016/j.robot.2012.05.010].

An Accurate and Robust Visual-Compass Algorithm for Robot-mounted Omnidirectional Cameras

SCHEGGI, STEFANO;PRATTICHIZZO, DOMENICO
2012-01-01

Abstract

Due to their wide field of view, omnidirectional cameras are becoming ubiquitous in many mobile robotic applications. A challenging problem consists of using these sensors, mounted on mobile robotic platforms, as visual compasses (VCs) to provide an estimate of the rotational motion of the camera/robot from the omnidirectional video stream. Existing VC algorithms suffer from some practical limitations, since they require a precise knowledge either of the camera-calibration parameters, or the 3-D geometry of the observed scene. In this paper we present a novel multiple-view geometry constraint for paracatadioptric views of lines in 3-D, that we use to design a VC algorithm that does not require either the knowledge of the camera calibration parameters, or the 3-D scene geometry. In addition, our algorithm runs in real time since it relies on a closed-form estimate of the camera/robot rotation, and can address the image-feature correspondence problem. Extensive simulations and experiments with real robots have been performed to show the accuracy and robustness of the proposed method.
G. L., M., Scheggi, S., F., M., Prattichizzo, D. (2012). An Accurate and Robust Visual-Compass Algorithm for Robot-mounted Omnidirectional Cameras. ROBOTICS AND AUTONOMOUS SYSTEMS, 60(9), 1179-1190 [10.1016/j.robot.2012.05.010].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/32593
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