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Ponce, Hiram
An Implementation of a Monocular 360-Degree Vision System for Mobile Robot Navigation
2018
,
Acevedo Medina, Eduardo
,
Beltrán, Arturo
,
Castellanos Canales, Mauricio
,
Chaverra, Luis
,
González Mora, José Guillermo
,
Sarmiento Oseguera, Manuel Antonio
,
Ponce, Hiram
One of the problems facing autonomous navigation is obstacle sensing and dynamic surroundings. Multi-sensor systems and omni directional vision systems have been implemented to increase the observability of robots. However, these approaches consider several drawbacks: the cost of processing multiple signals, synchronization of data collection, cost of materials and energy consumption, among others. Thus in this paper, we propose a new 360-degree vision system for mobile robot navigation using a static monocular camera. We demonstrate that using our system, it is possible to monitor the complete surroundings of the robot with a single sensor, i.e. the camera. Moreover, it can detect the position and orientation of an object from an egocentric point of view. We also present a low cost prototype of our proposal to validate it. © 2018 IEEE.