HyperOmni Vision Research Articles

Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision

Obstacle Avoidance of Mobile Robot Based on HyperOmni Vision

Calibration Method for Misaligned Catadioptric Camera

This paper proposes a calibration method for catadioptric camera systems consisting of a mirror whose reflecting surface is the surface of revolution and a perspective camera as typified by HyperOmni Vision. The proposed method is based on conventional camera calibration and mirror posture estimation. Many methods for camera calibration have been proposed and during the last decade, methods for catadioptric camera calibration have also been proposed. The main problem with catadioptric camera calibration is that the degree of freedom of mirror posture is limited or the accuracy of the estimated parameters is inadequate due to nonlinear optimization. On the other hand, our method can estimate five degrees of freedom of mirror posture and is free from the volatility of nonlinear optimization. The mirror posture has five degrees of freedom, because the mirror surface has a surface of revolution. Our method uses the mirror boundary and can estimate up to four mirror postures. We apply an extrinsic parameter calibration method based on conic fitting for this estimation method. Because an estimate of the mirror posture is not unique, we also propose a selection method for finding the best one. By using the conic-based analytical method we can avoid the initial value problem arising from nonlinear optimization. We conducted experiments on synthesized images and real images to evaluate the performance of our method, and discuss its accuracy.

1P2-N-045 全方位視覚センサの設置不良問題とその補正(安心安全を実現するダイナミックセンシング技術(ダイナミックセンシング研究会),生活を支援するロボメカ技術のメガインテグレーション)

1P2-N-045 全方位視覚センサの設置不良問題とその補正(安心安全を実現するダイナミックセンシング技術(ダイナミックセンシング研究会),生活を支援するロボメカ技術のメガインテグレーション)

Constructing a map of place cells for mobile robot navigation

It is known that there is a hippocampal place cell which is so called because the cell fires when the rat occupies a restricted portion of an environment. We propose a method to construct a map of place cells for mobile robot navigation. The map is self-organized by neural gas using odometry and visual information from Hyper Omni Vision.

全方位視覚センサの取り付け不良から生じる誤差解析(安心・安全を実現するダイナミックセンシング技術(ダイナミックセンシング研究会))

全方位視覚センサの取り付け不良から生じる誤差解析(安心・安全を実現するダイナミックセンシング技術(ダイナミックセンシング研究会))

Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows

Described here is a method for estimating rolling and swaying motions of a mobile robot using optical flow. We have proposed an image sensor with a hyperboloidal mirror for the vision-based navigation of a mobile robot. Its name is HyperOmni Vision. The radial component of optical flow in HyperOmni Vision has a periodic characteristic. The circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristic to estimate robustly the rolling and swaying motion of the mobile robot.

A CMOS image sensor for Hyper Omni Vision

A CMOS image sensor for Hyper Omni Vision

ＨｙｐｅｒＯｍｎｉ Ｖｉｓｉｏｎと全方位Ｈｏｕｇｈ変換を用いた線分の三次元再構築

We have proposed an omnidirectional image sensor called HyperOmni Vision. This sensor can acquire omnidirectional and perspective images in real time. In this paper, we propose a new Hough transform method for an omnidirectional image by using a cubic Hough space. Furthremore, This report presents a method for reconstructing 3D line segments from an omnidirectional input image sequence obtained by HyperOmni Vision with known motion.

未知並進運動する移動ロボットにおける静止環境マップ生成

We have designed several omnidirectional image sensors such as COPIS (COnic Projection Image Sensor) with a conical mirror and HyperOmni Vision with a hyperboloidal mirror, for navigating the robot in an environment. Described here is a method for generating an environmental map by using the Omnidirectional Image Sensor. Based on the assumption of translational motions of the robot, the proposed method can generate an environmental map and estimate egomotion of the robot. In particular, the method is suitable for map generation during long robot movement because deadlocking error of the robot does not accumulate. The method has been evaluated on a prototype of HyperOmni Vision in actual environment.

HyperOmni vision: Visual navigation with an omnidirectional image sensor

For robot navigation, we need sensor information as to the condition of the environment around the robot. In this paper, we describe an omnidirectional vision system (HyperOmni Vision) using a hyperboloidal mirror and describe its distinctive features, together with a visual navigation method using HyperOmni Vision. In existing omnidirectional vision systems, since the optical system does not use center projection, an independent method of acquiring the visual information is required. However, since the omnidirectional vision system using a hyperboloidal mirror has an omnidirectional visual field and the optical characteristic of center projections, its images can be transformed into images taken directly with an ordinary camera. For this reason, it can produce images suitable for processing, and not only independent techniques, but also conventional image processing technology can be utilized. We will report here the configuration, distinctive features, and characteristics of the optical system of HyperOmni Vision and describe a mobile robot using HyperOmni Vision and its techniques of movement estimation and obstacle detection by template matching. © 1997 Scripta Technica, Inc. Syst Comp Jpn, 28(4): 36–47, 1997

HyperOmni vision: Visual navigation with an omnidirectional image sensor

For robot navigation, we need sensor information as to the condition of the environment around the robot. In this paper, we describe an omnidirectional vision system (HyperOmni Vision) using a hyperboloidal mirror and describe its distinctive features, together with a visual navigation method using HyperOmni Vision. In existing omnidirectional vision systems, since the optical system does not use center projection, an independent method of acquiring the visual information is required. However, since the omnidirectional vision system using a hyperboloidal mirror has an omnidirectional visual field and the optical characteristic of center projections, its images can be transformed into images taken directly with an ordinary camera. For this reason, it can produce images suitable for processing, and not only independent techniques, but also conventional image processing technology can be utilized. We will report here the configuration, distinctive features, and characteristics of the optical system of HyperOmni Vision and describe a mobile robot using HyperOmni Vision and its techniques of movement estimation and obstacle detection by template matching. © 1997 Scripta Technica, Inc. Syst Comp Jpn, 28(4): 36–47, 1997

全方位ステレオ視による３次元情報の獲得

To recognize whole three-dimensional environments, it is necessary to obtain depth and height information, or three-dimensional information, of a scene. This paper presents an omnidirectional stereo method, which can obtain three-dimensional information simultaneously in all directions. The method first takes a pair of omnidirectional images at different heights using the omnidirectional imaging sensor, HyperOmni Vision, and then detects corresponding points between the pair of images, finally obtaining three-dimensional information simultaneously in all directions. Experimental results show the feasibility of the proposed method with real omnidirectional images. This paper also shows the computation of common horizontal binocular stereo images from a pair of omnidirectional images for virtual reality applications.