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Optical Engineering

Omnidirectional Dynamic Vision Positioning For A Mobile Robot
Author(s): Zuoliang L. Cao; Sung J. Oh; Ernest L. Hall
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Paper Abstract

This paper presents a new positioning technique, called omnidirectional dynamic vision positioning, for use in navigating a mobile robot. A fisheye lens image system is used as an omnidirectional vision device. A positioning algorithm used with reference beacons determines the position of the robot in terms of a global positioning coordinate system. An accuracy analysis was conducted, and positioning errors were characterized. The experimental results verify the practicability and realizability of the new technique. The advantage of omnidirectional vision for navigation is the simplicity of recording an entire 2 tt radian scene without camera scanning.

Paper Details

Date Published: 1 December 1986
PDF: 6 pages
Opt. Eng. 25(12) 251278 doi: 10.1117/12.7973998
Published in: Optical Engineering Volume 25, Issue 12
Show Author Affiliations
Zuoliang L. Cao, University of Cincinnati (United States)
Sung J. Oh, University of Cincinnati (United States)
Ernest L. Hall, University of Cincinnati (United States)

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