A real time detection algorithm for direction error in omnidirectional image sensors for mobile robots

Abstract

An algorithm for the real time detection of the direction error in the heading of a mobile robot is proposed. The proposed algorithm is designed for an omnidirectional image sensor. For the omnidirectional image sensor, a hemispherical mirror, one CCD camera, and a vision board are used. This configuration has low cost and efficiency in collecting omnidirectional data with one image compared with other types of image sensors. The proposed algorithm is verified through computer simulations and a practical mobile robot.