Abstract

Described here is an image sensor with a hyperboloidal mirror for vision based navigation of a mobile robot. Its name is HyperOmni Vision. This sensing system can acquire an omnidirectional view around the robot, in real-time, with use of a hyperboloidal mirror. The authors show a prototype of a mobile robot system with HyperOmni Vision and a method for estimating the motion of the robot and finding unknown obstacles.

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