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In this paper, we propose a method for a mobile robot to navigation in textureless environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omni-directional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can autonomously travel while avoiding walls as obstacles. The method has...
In this paper, we propose an efficient estimation method of an omnidirectional camera movement. The proposed method is based on Structure from Motion utilizing a constraint of parallel lines. In an environment having manmade structures, parallel lines can be extracted from an omnidirectional image easily and constantly, because of its wide field of view. Parallel lines provides a valuable constraint...
A lot of plumbings such as gas pipes and water pipes exist in public utilities, factories and so on. The use of an omni-directional camera which can take images of 360 deg in surroundings at a time is effective for pipe inspection. However, shape measurement is difficult only with the omnidirectional camera. Therefore, in this paper, we propose a reconstruction method of a piping shape by using a...
In this paper, we propose an underwater sensing method by using an omni-directional stereo camera system. When observing objects in water through a camera contained in a waterproof housing or observing objects in an aquarium tank filled with preserving liquid, we should solve a problem of light refraction at the boundary surfaces of refractive index discontinuity which gives image distortion. The...
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