Efficient omni-directional ranging system for mobile robot using panoramic vision with structured light

Jinwon Kim; Sooyeong Yi; Byungwook Choi

doi:10.1117/12.664384

20 February 2006 Efficient omni-directional ranging system for mobile robot using panoramic vision with structured light

Jinwon Kim, Sooyeong Yi, Byungwook Choi

Author Affiliations +

Proceedings Volume 6041, ICMIT 2005: Information Systems and Signal Processing; 60412M (2006) https://doi.org/10.1117/12.664384
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

A ranging system for a mobile robot was designed to obtain relative distances to surrounding objects and to construct a local object map, so that the robot can orient its own position and design a course on the global map. An omni-directional ranging system using a panoramic vision with structured light was presented in this paper. Due to the adoption of the panoramic mirror and the laser structured light in the proposed system, it is possible to measure the distance for the 360° omni-directional object in a very efficient manner. The effectiveness of the proposed system was verified through experiments.

Citation Download Citation

Jinwon Kim, Sooyeong Yi, and Byungwook Choi "Efficient omni-directional ranging system for mobile robot using panoramic vision with structured light", Proc. SPIE 6041, ICMIT 2005: Information Systems and Signal Processing, 60412M (20 February 2006); https://doi.org/10.1117/12.664384

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