An Implementation of a Monocular 360-Degree Vision System for Mobile Robot Navigation
Journal
2018 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)
Date Issued
2018
Author(s)
Acevedo Medina, Eduardo
Beltrán, Arturo
Castellanos Canales, Mauricio
Chaverra, Luis
González Mora, José Guillermo
Sarmiento Oseguera, Manuel Antonio
Type
Resource Types::text::conference output::conference proceedings::conference paper
Abstract
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.