Summary: 184 Sooyeong Yi, Byoungwook Choi, and Narendra Ahuja
Real-time Omni-directional Distance Measurement
with Active Panoramic Vision*
Sooyeong Yi**, Byoungwook Choi, and Narendra Ahuja
Abstract: Autonomous navigation of mobile robot requires a ranging system for measurement of
distance to environmental objects. It is obvious that the wider and the faster distance
measurement gives a mobile robot more freedom in trajectory planning and control. The active
omni-directional ranging system proposed in this paper is capable of obtaining the distance for
all 3600 directions in real-time because of the omni-directional mirror and the structured light.
Distance computation including the sensitivity analysis and the experiments on the omni-
directional ranging are presented to verify the effectiveness of the proposed system.
Keywords: Active vision, mobile robot, omni-directional mirror, panoramic vision, structured
A ranging system is one of primary concerns for
autonomous navigation of mobile robot since the
localization and the map construction can be realized
on the basis of the range information . There are
many kinds of ranging sensors such as the ultrasonic
sensors, laser sensors, and stereo camera sensors etc.