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Experimental results got with the omnidirectional vision sensor: SYCLOP

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6 Author(s)
Brassart, E. ; Centre de Robotique d''Electrotech. et d''Autom., Amiens, France ; Delahoche, L. ; Cauchois, C. ; Drocourt, C.
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In this paper, we present experimental results obtained with the omnidirectional sensor SYCLOP “Conical SYstem for LOcalization and Perception” for localisation of mobile robots. This system, which is able to get a panoramic view of a 2π radian field, is made of a CCD camera and a vertically oriented conic shaped reflector. We give at first a method to calibrate the whole omnidirectional taking into account the transformations between the real world, the conical reflector and the picture. In the second part we carried out a localization method which uses a stereoscopic omnidirectional vision system. This system, in its experimental phase, is constituted of only one catadioptric sensor installed on a mechanical system making a rigid movement of transfer, permitting to get two views of the same scene. From these two pictures, we determine the robot's position with a matching stage which uses the sensorial obtained points and points listed on a theoretical model

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Omnidirectional Vision, 2000. Proceedings. IEEE Workshop on

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