Catadioptric Vision for Robotic Applications

Catadioptric Vision for Robotic Applications

From Low-Level Feature Extraction to Visual Odometry

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Vision is a very important sense to humans and animals. It is mimicked for robots with cameras. However, conventional cameras have a small field of view, which implies that important difficulties might be encountered (such as motion ambiguity, occlusion and lack of information), particularly in robotics. This book is therefore dedicated to omnidirectional vision systems, especially catadioptric cameras, which permit these difficulties to be overcome. A catadioptric camera is a special type of omnidirectional system: it is composed of a camera and a convex mirror, permitting a great enlargement...