Geometrical Modeling and Real-Time Vision Applications of a Panoramic Annular Lens (PAL) Camera System

摘要

Flexible, reconfigurable vision systems can provide the richest sensing modality for sophisticated multiple robot platforms. We propose a cooperative and adaptive approach to vision applied to the problem of finding and protecting humans by a robot team in such emergent circumstances, for example, during a fire in an office building. A panoramic camera system plays an important role in this approach. This report presents the recent progress on the development of vision algorithms based on a panoramic annular lens (PAL) camera system. First, we give a brief survey of existing panoramic camera systems, with an emphasis on geometrical properties of capturing panoramic images from a single-viewpoint. Second, a mathematical model of the panoramic annular lens (PAL) camera that we use is built, and then several issues about camera calibration and image un- warping are addressed. An empirical method is given to roughly ''calibrate the PAL camera system. Next, a panoramic virtual stereo (PVS) vision approach is proposed, and the problems of self-calibration and real-time 3D estimation are discussed. Finally, we present an experimental system that can detect and track multiple moving objects in real-time using a PAL camera system. The panoramic vision algorithm for moving object tracking also serves the initial step of the PVS approach.