Abstract
Abstract. This work details the development of an indoor navigation and mapping system using a non-central catadioptric omnidirectional camera and its implementation for mobile applications. Omnidirectional catadioptric cameras find their use in navigation and mapping of robotic platforms, owing to their wide field of view. Having a wider field of view, or rather a potential 360° field of view, allows the system to “see and move” more freely in the navigation space. A catadioptric camera system is a low cost system which consists of a mirror and a camera. Any perspective camera can be used. A platform was constructed in order to combine the mirror and a camera to build a catadioptric system. A calibration method was developed in order to obtain the relative position and orientation between the two components so that they can be considered as one monolithic system. The mathematical model for localizing the system was determined using conditions based on the reflective properties of the mirror. The obtained platform positions were then used to map the environment using epipolar geometry. Experiments were performed to test the mathematical models and the achieved location and mapping accuracies of the system. An iterative process of positioning and mapping was applied to determine object coordinates of an indoor environment while navigating the mobile platform. Camera localization and 3D coordinates of object points obtained decimetre level accuracies.
Highlights
Indoor mapping and navigation, especially using mobile robots, is an ever increasing demand owing to its multiple applications
There are further advantages of catadioptric cameras as compared to a single perspective camera or a stereo camera system, such as the 360o view, which allows for spatial awareness in all directions without having to turn to view the Another condition is the case when elliptical or hyperbolic mirrors are used, is that the perspective camera is to be placed at one of the focal points of the mirror
The solutions for navigation and mapping using catadioptric cameras can be broadly divided into two categories: a) solutions based on ray optics geometry (Geyer and Daniilidis, 2000; Micusik and Pajdla, 2004; Aliakbarpour et al, 2014; Tommaselli et al, 2014) and b) solutions based on image unwrapping generated from geometric conditions (Aliaga, 2001; Geyer and Daniilidis, 1999)
Summary
Especially using mobile robots, is an ever increasing demand owing to its multiple applications. Having a single effective viewpoint makes calculations simpler due to additional constraints in geometry Another condition is the case when elliptical or hyperbolic mirrors are used, is that the perspective camera is to be placed at one of the focal points of the mirror. A spherical mirror with a perspective camera is a non central camera or ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume IV-2, 2018 ISPRS TC II Mid-term Symposium “Towards Photogrammetry 2020”, 4–7 June 2018, Riva del Garda, Italy even a hyperbolic mirror with a perspective camera and a misaligned optical axis is a non-central catadioptric camera. In solving for a non-central catadioptric camera, is there a requirement to overcome the lack of a single effective viewpoint and to overcome a misalignment of the optical axis with the mirror. A few of the advantages of the catadioptric systems over other imaging systems are: wider field of view, low cost, light weight, flexibility and portability
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