Abstract
We present an autonomous mobile robot navigation system using stereo fish-eye lenses for navigation in indoor structured environments. The system estimates the three-dimensional (3D) position of significant features in the environment, and by estimating its relative position, navigates through narrow passages and makes turns at the end of corridors. Fish-eye lenses are used to provide a large field of view, which helps in imaging objects close to the robot. The system is implemented and tested in a structured environment at our laboratory. Results from the robot navigation in real environments are presented.
This research was supported by ARO DAAH-04-94-G-0417 and Joint Services Electronics Program Contract F49620-92-C-0027.
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© 1995 Springer-Verlag Berlin Heidelberg
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Shah, S., Aggarwal, J.K. (1995). Autonomous mobile robot navigation using fish-eye lenses. In: Chin, R.T., Ip, H.H.S., Naiman, A.C., Pong, TC. (eds) Image Analysis Applications and Computer Graphics. ICSC 1995. Lecture Notes in Computer Science, vol 1024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-60697-1_81
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DOI: https://doi.org/10.1007/3-540-60697-1_81
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