Seeing all around
Vision is one of the richest source of information in robotics. However,
conventional cameras have a rather limited field of view, which raises
various problems (and in particular the necessity to control their
orientation). Panoramic imagers solve this problem, most of the time by
using a convex mirror. We choose to equip Dala with such a sensor, which we bought
to the remote reality
company. Some images and a small video can be seen in the gallery. This sensor has the great
advantage to have a single center of
projection, as any desired image projected on any image plane can be
generated, such as a pure perspective image for instance. We currently use
the produced images to qualitatively localize the rover.
Also, we recently initiated some work on panoramic stereovision [Gonzalez-Barbosa 2003] [Gonzalez-Barbosa 2005].
The sensor mounted on Dala
Principle of image formation
Only one is necessary here : the nice Omnidirectional vision
page set up by Kostas Daniilidis, that gathers a set of links to
various universities, labs and companies involved in the development and
exploitation of panoramic cameras..
Simon Lacroix, José Gonzalez.