16 February 1984 Omnidirectional Viewing For Robot Vision
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A fish-eye lens image can include information covering a 2Tr steradian field of view. Such a lens can be used as an element of the vision system of a robot. These images, which are recorded digitally, appear with an unavoidable inherent distortion which can be corrected with image processing techniques. A method for geometric restoration of such distorted images is derived and its resolution and error are analyzed. A system which may serve as a robot's vision system is described, along with examples of "distorted" and "undistorted" images to clarify the results of the above method.
© (1984) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
N. Alvertos, N. Alvertos, E L Hall, E L Hall, R. L Anderson, R. L Anderson, "Omnidirectional Viewing For Robot Vision", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); doi: 10.1117/12.939245; https://doi.org/10.1117/12.939245


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