<title>Omnidirectional Viewing For Robot Vision</title>

Abstract

A fish-eye lens image can include information covering a 2Tr steradian field of view. Such a lens can be used as an element of the vision system of a robot. These images, which are recorded digitally, appear with an unavoidable inherent distortion which can be corrected with image processing techniques. A method for geometric restoration of such distorted images is derived and its resolution and error are analyzed. A system which may serve as a robot's vision system is described, along with examples of "distorted" and "undistorted" images to clarify the results of the above method.