Autonomous mobile robot navigation using fish-eye lenses
We present an autonomous mobile robot navigation system using stereo fish-eye lenses for navigation in indoor structured environments. The system estimates the three-dimensional (3D) position of significant features in the environment, and by estimating its relative position, navigates through narrow passages and makes turns at the end of corridors. Fish-eye lenses are used to provide a large field of view, which helps in imaging objects close to the robot. The system is implemented and tested in a structured environment at our laboratory. Results from the robot navigation in real environments are presented.
KeywordsMobile Robot Stereo Image Stereo Pair Autonomous Mobile Robot Narrow Passage
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