Experimental results got with the omnidirectional vision sensor: Syclop

Abstract

In this paper, we present experimental results got with the omnidirectional sensor SYCLOP “Conical SYstem for LOcalization and Perception ” for localisation of mobile robots. This system, which is able to get a panoramic view of a 2π radian field, is made of a CCD camera and a vertically oriented conic shaped reflector. We give at first a method to calibrate the whole omnidirectional taking in account the transformations between the real world, the conical reflector and the picture. In the second part we are carried out a localization method which uses a stereoscopic omnidirectional vision system. This system, in its experimental phase, is constituted of only one catadioptric sensor installed on a mechanical system making a rigid movement of transfer, permitting to get two views of the same scene. From these two pictures, we determine the robot’s position with a matching stage which use the sensorial obtained points and points listed on a theoretical model. 1