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Open AccessArticle

HOPIS: Hybrid Omnidirectional and Perspective Imaging System for Mobile Robots

Department of Electrical Engineering and Advanced Institute of Manufacturing with High-Tech Innovation, National Chung Cheng University, 168 University Road, Min-Hsiung, Chiayi 621, Taiwan
Author to whom correspondence should be addressed.
Sensors 2014, 14(9), 16508-16531;
Received: 9 July 2014 / Revised: 10 August 2014 / Accepted: 22 August 2014 / Published: 4 September 2014
(This article belongs to the Special Issue Optical Gyroscopes and Navigation Systems)
In this paper, we present a framework for the hybrid omnidirectional and perspective robot vision system. Based on the hybrid imaging geometry, a generalized stereo approach is developed via the construction of virtual cameras. It is then used to rectify the hybrid image pair using the perspective projection model. The proposed method not only simplifies the computation of epipolar geometry for the hybrid imaging system, but also facilitates the stereo matching between the heterogeneous image formation. Experimental results for both the synthetic data and real scene images have demonstrated the feasibility of our approach. View Full-Text
Keywords: robot vision; optical sensing; hybrid imaging geometry robot vision; optical sensing; hybrid imaging geometry
MDPI and ACS Style

Lin, H.-Y.; Wang, M.-L. HOPIS: Hybrid Omnidirectional and Perspective Imaging System for Mobile Robots. Sensors 2014, 14, 16508-16531.

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