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Proceedings Paper

Versatile 360-deg panoramic optical system for autonomous robots
Author(s): George G. Barton; Sidney Feldman; Jeffrey Andrew Beckstead; Sidney R. Nordhauser
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Paper Abstract

Autonomous mobile robots require wide angle vision for navigation and threat detection and analysis, best served with full panoramic vision. The panoramic optical element is a unique inexpensive first surface reflective aspheric convex cone. This cone can be sized and configured for any vertical FOV desired. The cone acts as a negative optical element generating a panoramic virtual image. When this virtual image is viewed through a standard camera lens it produces at the lenses focal pane a panoramic toroidal image with a translational linearity of > 99 percent. One of three image transducers can be used to convert the toroidal panoramic image to a video signal. Raster scanned CCDs, radially scanned Vidicons and linear CCD arrays on a mechanically rotated state, each have their own particular advantage. Field object distances can be determined in two ways. If the robot is moving the range can be calculated by the size change of a field object versus the distance traversed in a specific time interval. By vertically displacing the panoramic camera by several inches a quasibinocular system is created and the range determined by simple math. Ranging thus produces the third dimension.

Paper Details

Date Published: 8 January 1999
PDF: 11 pages
Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335689
Show Author Affiliations
George G. Barton, Bismarc, Inc. (United States)
Sidney Feldman, RD Services (United States)
Jeffrey Andrew Beckstead, InterScience, Inc. (United States)
Sidney R. Nordhauser, InterScience, Inc. (United States)


Published in SPIE Proceedings Vol. 3525:
Mobile Robots XIII and Intelligent Transportation Systems
Howie M. Choset; Pushkin Kachroo; Mikhail A. Kourjanski; Douglas W. Gage; Pushkin Kachroo; Marten J. de Vries; Mikhail A. Kourjanski; Marten J. de Vries, Editor(s)

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