Remote Sensing

This chapter is devoted to the acquisition of images via sensors mounted on a mobile robot. Particular attention is given to projecting the sensor field of view onto a surface (such as the ground) and then converting a specific pixel coordinate (for example the coordinates of a detected object of interest) of this field into the actual ground coordinates. The chapter analyzes camera‐type sensors and addresses the task of converting sensor frame coordinates of objects to their representation in other frames such as vehicle coordinates and earth coordinates. By observing how the fields of view for the camera‐type sensors change so drastically with vehicle attitude, it is apparent that accurate instrumentation for this purpose is absolutely necessary. Because of the potential errors when using a single camera, stereo vision is also considered as a means of ground registration of objects of interest.