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An integrated framework mainly focusing on stereo matching has been presented in this paper to obtain dense depth maps for a mobile robot that is equipped with a novel omnidirectional stereo vision sensor that is designed to obtain height information. The vision sensor is composed of a common perspective camera and two hyperbolic mirrors, which are separately fixed inside a glass cylinder. As the...
By analyzing the relationship between the camera motion and the coarseness changing of the texture image, a vision servoing method based on texture coarseness analyzing is given in this paper. The theory based on geography feature calculation is not effective in the environment full of texture but short of geography features. Texture feature extraction corresponding to the camera translation, pitching...
This study describes a method to obtain obstacle information omnidirectionally by a novel omnidirectional stereo vision system. Such information is important for mobile robots navigation. The omnidirectional stereo vision system is based on a common perspective camera coupled with two hyperbolic mirrors. Given two images of a space point acquired by this vision system, the 3D coordinates of the point...
This paper presents a design method for a novel configured stereo vision navigation system for mobile robots, which is a catadioptric sensor called OSVOD (omnidirectional stereo vision optical device) based on a common perspective camera coupled with two hyperbolic mirrors. As the hyperbolic mirrors ensure a single viewpoint (SVP) the incident light rays are easily found from the points of the image...
A model-based monocular vision system for station keeping of an underwater vehicle is presented. Through such system accurate and reliable 3D pose information (roll, pitch, yaw and XYZ translations) of the vehicle relative to the model-known observed target is estimated in real time. The cooperative and observed target is placed in the working space when station keeping is demanded. The performance...
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