title: HOPIS: hybrid omnidirectional and perspective imaging system for mobile robots.
abstract: In this paper, we present a framework for the hybrid omnidirectional and perspective robot vision system. Based on the hybrid imaging geometry, a generalized stereo approach is developed via the construction of virtual cameras. It is then used to rectify the hybrid image pair using the perspective projection model. The proposed method not only simplifies the computation of epipolar geometry for the hybrid imaging system, but also facilitates the stereo matching between the heterogeneous image formation. Experimental results for both the synthetic data and real scene images have demonstrated the feasibility of our approach.
authors.affiliation: Department of Electrical Engineering and Advanced Institute of Manufacturing with High-Tech Innovation, National Chung Cheng University, 168 University Road, Min-Hsiung, Chiayi 621, Taiwan. hylin@ccu.edu.tw.
authors.forename: Huei-Yung
authors.initials: HY
authors.lastname: Lin
authors.affiliation: Department of Electrical Engineering and Advanced Institute of Manufacturing with High-Tech Innovation, National Chung Cheng University, 168 University Road, Min-Hsiung, Chiayi 621, Taiwan. jw122huang@gmail.com.
authors.forename: Min-Liang
authors.initials: ML
authors.lastname: Wang
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D004867:Equipment Design; D019544:Equipment Failure Analysis; D007090:Image Interpretation, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000295:instrumentation* / Q000379:methods*; D009038:Motion; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D018511:Systems Integration