Creating a bird-eye view map using an omnidirectional camera

Abstract

An omnidirectional camera has properties which are highly beneficial for navigation of a mobile robot. In this paper this is demonstrated with a new application; a visual map of the environment created from bird-eye view perspective. This visual map can be created on-line, which allows an operator to navigate the robot through an unknown environment based on this visual map. The quality of the map is tested in a self-localization experiment. 1