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Proceedings Paper

Omnidirectional vision system using two mirrors
Author(s): Akito Takeya; Takeshi Kuroda; Ken-Ichi Nishiguchi; Akira Ichikawa
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Paper Abstract

Obtaining omnidirectional visual information for a study of mobile robots is important for understanding robot positioning. Usually, such vision systems use a fish-eye lens or a reflecting mirror (conical, spherical or hyperboloidal). A conventional system has a problem in that an unnecessary visual field occupies most of the image. The conventional one also has a problem where the camera image is blurred due to the physical property of the mirror and a clear image cannot be obtained, especially in a dark environment. In order to overcome these difficulties, we propose an omnidirectional vision system using two mirrors with a contrived curvature for obtaining a panoramic image. The vision system consists of two axisymmetric mirrors (like a reflecting telescope) and a CCD camera. Incident rays from 360 degree surroundings are reflected twice by a primary mirror and a secondary mirror, then enter the CCD camera. A theoretical consideration is made to estimate the degree of aberration for the reflecting optical system and it uses two mirrors with arbitrary curvatures. The design method is developed to minimize the aberration of the image after the reflections of the two mirrors. The vision system can realize a clear omnidirectional panoramic image with minimum blur. The optical characteristics of the design are evaluated and the results show the effectiveness of the proposed vision system.

Paper Details

Date Published: 8 December 1998
PDF: 11 pages
Proc. SPIE 3430, Novel Optical Systems and Large-Aperture Imaging, (8 December 1998); doi: 10.1117/12.332486
Show Author Affiliations
Akito Takeya, Mitsubishi Electric Corp. (Japan)
Takeshi Kuroda, Mitsubishi Electric Corp. (Japan)
Ken-Ichi Nishiguchi, Mitsubishi Electric Corp. (Japan)
Akira Ichikawa, Mitsubishi Electric Corp. (Japan)


Published in SPIE Proceedings Vol. 3430:
Novel Optical Systems and Large-Aperture Imaging
Kevin Dean Bell; Michael K. Powers; Jose M. Sasian, Editor(s)

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