Analysis of omni-directional views at different location

Abstract

Omni-directional views of environment are analyzed to build a world model of an autonomous mobile robot. A panoramic view is yielded by arranging the vertical line at the center of each image taken by a camera attached on the robot. The panoramic view is featured by the cylindrical projection of a 3D line onto a sinusoidal curve. The following three issues are discussed: (1) projection of 3-D space onto the panoramic view; (2) epipolar curves for stereo matching; and (3) optical flow. A method for finding the 3D structure of an environment is proposed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>