Abstract
In this paper we describe a vision system based on the use of both an omnidirectional vision sensor and a standard CCD camera. This hybrid system is aimed at compensating for drawbacks of both sensors and at offering new opportunities deriving by their joint use. It can be used in several tasks, such as implementation of peripheral/foveal vision strategies, stereo vision, etc. The paper describes the device on which the vision system is based and its use as a stereo system for obstacle detection in a semi-structured environment, based on a perspective removal algorithm.
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