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Real-time Omni-directional Distance Measurement with Active Panoramic Vision  

Yi, Soo-Yeong (Department of Electrical Engineering, Seoul National University of Technology)
Choi, Byoung-Wook (Department of Electrical Engineering, Seoul National University of Technology)
Ahuja, Narendra (Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign)
Publication Information
International Journal of Control, Automation, and Systems / v.5, no.2, 2007 , pp. 184-191 More about this Journal
Abstract
Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional mirror and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.
Keywords
Active vision; mobile robot; omni-directional mirror; panoramic vision; structured light;
Citations & Related Records

Times Cited By Web Of Science : 2  (Related Records In Web of Science)
Times Cited By SCOPUS : 7
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