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Real-time Omni-directional Distance Measurement With Active Panoramic Vision

Sooyeong Yi, Byoungwook Choi, and Narendra Ahuja
International Journal of Control, Automation, and Systems, vol. 5, no. 2, pp.184-191, 2007

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.

Keyword : Active vision, mobile robot, omni-directional mirror, panoramic vision, structured light.

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