Image mosaicing for visual feedback in ground robot navigation

Sofia Esquivel-Hernandez; Rigoberto Juarez-Salazar; Jorge Gudino-Lau

doi:10.1117/12.2594664

1 August 2021 Image mosaicing for visual feedback in ground robot navigation

Sofia Esquivel-Hernandez, Rigoberto Juarez-Salazar, Jorge Gudino-Lau

Proceedings Volume 11841, Optics and Photonics for Information Processing XV; 1184103 (2021) https://doi.org/10.1117/12.2594664
Event: SPIE Optical Engineering + Applications, 2021, San Diego, California, United States

Abstract

Nowadays, computer vision is an essential part of modern autonomous mobile robots. Fisheye cameras are employed to capture large scenes with a single camera, but the hard radial distortion limits the accuracy of measurements. In this research, a vision system with multiple low-distortion cameras to capture large flat scenes from different viewpoints is proposed. This system applies a homography-based image mosaicing method and linear image interpolation. The obtained results show that the proposed system is useful for visual navigation of ground mobile robots.

Conference Presentation

Citation Download Citation

Sofia Esquivel-Hernandez, Rigoberto Juarez-Salazar, and Jorge Gudino-Lau "Image mosaicing for visual feedback in ground robot navigation", Proc. SPIE 11841, Optics and Photonics for Information Processing XV, 1184103 (1 August 2021); https://doi.org/10.1117/12.2594664

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