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Development of an omnidirectional vision system
- Source :
- Journal of the Brazilian Society of Mechanical Sciences and Engineering v.28 n.1 2006, Journal of the Brazilian Society of Mechanical Sciences and Engineering, Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM), instacron:ABCM, Journal of the Brazilian Society of Mechanical Sciences and Engineering, Volume: 28, Issue: 1, Pages: 58-68, Published: MAR 2006
- Publication Year :
- 2006
- Publisher :
- Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM, 2006.
-
Abstract
- Omnidirectional vision systems can provide images with a 360° of field of view. For this reason, they can be useful to robotic applications such as navigation, teleoperation and visual servoing. An effective way to construct this type of vision system is by combining lenses and mirrors together resulting on a system that does not require the movement of the camera to the direction of attention of the robot. A typical construction is by mounting a convex mirror in front of a camera aligning the center of the mirror with the optical axis of the camera. The most common convex mirror shapes used are conic, parabolic, hyperbolic and spherical. In this work we present two types of mirror that were constructed: a spherical mirror, used in the initial tests, and a hyperbolic, used for actual robot tasks. The hyperbolic mirror was manufactured using an ultra-precision CNC machine. Additionally, a software was developed to create panoramic and perspective images from the image acquired by the system. This work shows the development of an omnidirectional vision system, presenting the formulation used to determine a suitable mirror shape, the mechanical solutions used to build a fully operational system, and the results of the developed algorithm.
- Subjects :
- Engineering
Machine vision
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Aerospace Engineering
Curved mirror
Image processing
Field of view
Visual servoing
mobile robot
Industrial and Manufacturing Engineering
Computer Science::Robotics
Vision system
Computer vision
Smart camera
business.industry
Mechanical Engineering
Applied Mathematics
hyperbolic mirror
General Engineering
Mobile robot
image processing
Computer Science::Computer Vision and Pattern Recognition
Automotive Engineering
Teleoperation
Artificial intelligence
business
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- Journal of the Brazilian Society of Mechanical Sciences and Engineering v.28 n.1 2006, Journal of the Brazilian Society of Mechanical Sciences and Engineering, Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM), instacron:ABCM, Journal of the Brazilian Society of Mechanical Sciences and Engineering, Volume: 28, Issue: 1, Pages: 58-68, Published: MAR 2006
- Accession number :
- edsair.doi.dedup.....39d9b9967dc085ab0194695cfe39a428