Three-Dimensional Environment Modeling from Images Acquired with an Omni-Directional Camera Mounted on a Mobile Robot by Structure from Motion

Abstract

Measurement and modeling of surrounding environments are important for mobile robots to move autonomously. This paper describes a new method for environment measurement using an omni-directional camera on a mobile robot. Our method is based on a structure-from-motion technique under the assumption that the environment is static. The method measures surrounding environments at the same time as estimating the robot's motion. The validity of our method is verified through experiments.