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Machine Vision and Applications (1997) 10:159173 Machine Vision and Applications
 

Summary: Machine Vision and Applications (1997) 10:159173 Machine Vision and
Applications
c Springer-Verlag 1997
Mobile robot navigation and scene modeling
using stereo fish-eye lens system
Shishir Shah, J. K. Aggarwal
Computer and Vision Research Center, Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX 78712-1084,
USA
Received: 25 September 1996 / Accepted: 20 October 1996
Abstract. We present an autonomous mobile robot navi-
gation system using stereo fish-eye lenses for navigation
in an indoor structured environment and for generating
a model of the imaged scene. The system estimates the
three-dimensional (3D) position of significant features in the
scene, and by estimating its relative position to the features,
navigates through narrow passages and makes turns at corri-
dor ends. Fish-eye lenses are used to provide a large field of
view, which images objects close to the robot and helps
in making smooth transitions in the direction of motion.
Calibration is performed for the lens-camera setup and the

  

Source: Aggarwal, J. K. - Department of Electrical and Computer Engineering, University of Texas at Austin

 

Collections: Computer Technologies and Information Sciences; Engineering