Omnidirectional Viewing For Robot Vision

N. Alvertos; E L Hall; R. L Anderson

doi:10.1117/12.939245

16 February 1984 Omnidirectional Viewing For Robot Vision

N. Alvertos, E L Hall, R. L Anderson

Proceedings Volume 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls; (1984) https://doi.org/10.1117/12.939245
Event: 1983 Cambridge Symposium, 1983, Cambridge, United States

Abstract

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.

Citation Download Citation

N. Alvertos, E L Hall, and 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); https://doi.org/10.1117/12.939245

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