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Catadioptric Vision for Robotic Applications (Paperback)
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Catadioptric Vision for Robotic Applications (Paperback)
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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 of the field of view and
thus acquiring much more information from the environment. The
objective of this book is to study the role of omnidirectional
vision for robotic applications such as low-level feature
extraction, target tracking, motion estimation and 3D
reconstruction, while addressing the fundamental issues pertaining
to omnidirectional vision. This book is accompanied with
"OmniToolbox v2.1," a Matlab toolbox dedicated to omnidirectional
vision (freely available on the website of the authors), so that
the readers of this book can start working with omnidirectional
images directly.
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