Image mosaicing for visual feedback in ground robot navigation

被引：0

作者：

Esquivel-Hernandez, Sofia ^{[1
]}

Juarez-Salazar, Rigoberto ^{[2
]}

Gudino-Lau, Jorge ^{[1
]}

机构：

[1] Univ Colima, Fac Ingn Electromecan, Carretera Manzanillo Cihuatlan Km 20, Colima 28864, Mexico

[2] CONACYT Inst Politecn Nacl CITEDI, Av Inst Politecn Nacl 1310, Tijuana 22435, BC, Mexico

来源：

OPTICS AND PHOTONICS FOR INFORMATION PROCESSING XV | 2021年 / 11841卷

关键词：

Image mosaicing; Visual feedback control; Robot navigation; Multicamera vision system; Computer vision;

D O I：

10.1117/12.2594664

中图分类号：

O43 [光学];

学科分类号：

070207 ; 0803 ;

摘要：

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.

引用

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