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We briefly review the ideas driving our mirror design, part of which aims at the design of an omnidirectional vision system with prescribed accuracy. Although the motivations that drove the independent development of such ideas are different, the underlying design problem is the same as the well-known prescribed distortion of Hicks (2000). The added value of this part of the contribution is the approach taken to solve the differential equation governing the design: the mirror profile is determined on the basis of application requirements without setting up and solving the differential equation. Results of a real application to robots are presented.