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http://dx.doi.org/10.7746/jkros.2011.6.3.210

Mixing Collaborative and Hybrid Vision Devices for Robotic Applications  

Bazin, Jean-Charles (동경대학교 산업과학연구소)
Kim, Sung-Heum (KAIST 전기 및 전자공학과)
Choi, Dong-Geol (KAIST 전기 및 전자공학과)
Lee, Joon-Young (KAIST 전기 및 전자공학과)
Kweon, In-So (KAIST 전기 및 전자공학과)
Publication Information
The Journal of Korea Robotics Society / v.6, no.3, 2011 , pp. 210-219 More about this Journal
Abstract
This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.
Keywords
Collaborative/Hybrid system; Catadioptric; Detection; Tracking; Surveillance; Robotics;
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