Omni-Directional Vision System for Mobile Robot Using Structured Lights

Abstract:

Vision system can obtain rich environmental information, and vision is one of the most important sensing methods for mobile robot navigation and positioning. An omni-directional vision system using laser illumination is presented. The system can obtain the distance information of the obstacles around the mobile robot by only one image. The principle of the vision system is expounded; the mapping relationship between the image plane and the laser plane is given based on the analysis of the system model. The system benefits from the advantages of the omni-directional vision and the structured light vision, such as large ranged environmental information, high precision and robustness, etc. Experimental results of measurement and map construction verify the vision system.

• Periodical: Applied Mechanics and Materials (Volume 288)
• Pages: 114-120
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.288.114
• Online since: February 2013
• Authors: Yue Zhang, Yuan Li, Qing Lin Wang
• Keywords: Mapping, Mobile Robot, Omni-Directional Vision, Structured Light, Vision Navigation

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