Rolling motion estimation for mobile robot by using omnidirectional image sensor HyperOmniVision

摘要

Described here is a method for estimating a rolling motion of a mobile robot from optical flows. We have proposed an image sensor with a hyperboloidal mirror for vision based navigation of the mobile robot. Its name is HyperOmniVision. This sensing system can acquire an omnidirectional view around the robot, in real-time, with use of the hyperboloidal mirror. The radial component of optical flow in HyperOmniVision has a periodic characteristic. The proposed method makes use of this characteristic to estimate robustly the rolling motion of the robot.