Autonomous mobile robot navigation using fish-eye lenses

  • Shishir Shah
  • J. K. Aggarwal
Session IA1a — Robot Navigation & Tracking
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1024)


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.


Mobile Robot Stereo Image Stereo Pair Autonomous Mobile Robot Narrow Passage 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • Shishir Shah
    • 1
  • J. K. Aggarwal
    • 1
  1. 1.Computer and Vision Research Center Department of Electrical and Computer EngineeringThe University of Texas at AustinAustinUSA

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