Abstract
The use of single viewpoint catadioptric vision systems is a common approach in mobile robotics, despite the constraints imposed by those systems. A general solution to calculate the robot centered distances map on non-SVP catadioptric setups, exploring a back-propagation ray-tracing approach and the mathematical properties of the mirror surface is discussed in this paper. Results from this technique applied in the robots of the CAMBADA team (Cooperative Autonomous Mobile Robots with Advanced Distributed Architecture) are presented, showing the effectiveness of the solution.
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Cunha, B., Azevedo, J., Lau, N., Almeida, L. (2008). Obtaining the Inverse Distance Map from a Non-SVP Hyperbolic Catadioptric Robotic Vision System. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds) RoboCup 2007: Robot Soccer World Cup XI. RoboCup 2007. Lecture Notes in Computer Science(), vol 5001. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-68847-1_43
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DOI: https://doi.org/10.1007/978-3-540-68847-1_43
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