Omnidirectional Sensing and Its Applications

摘要

The goal of this paper is to present a critical survey of existing literature on an omnidirectional sensing. The area of vision application such as autonomous robot navigation, telepresence and virtual reality is expanding by use of a camera with a wide angle of view. In particular, a real-time omnidirectional camera with a single center of projection is suitable for analyzing and monitoring, because we can easily generate any desired image projected on any designated image plane, such as a pure perspective image or a panoramic image, from the omnidirectional input image. In this paper, I review designs and principles of existing omnidirectional cameras, which can acquire an omnidirectional (360 degrees) field of view, and their applications in fields of autonomous robot navigation, telepresence, remote surveillance and virtual reality. key words: omnidirectional camera, multiple sensing camera, panoramic view, omnidirectional view, computer vision