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Design and Calibration of a Specialized Polydioptric Camera Rig

Abstract : It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation problems on uneven terrains and detection of the moving objects while the robot is itself in motion are the core problems that omnidirectional systems tackle. The proposed omnidirectional system is a compact and a rigid vision system with dioptric cameras that provide a 360° field of view in horizontal and vertical, with no blind spot in their site combined with a high-resolution stereo camera to monitor anterior field of view for a more accurate perception with depth information of the scene. Structure from motion algorithm is adapted and implemented to prove the design validity of the proposed camera rig, and a technique is developed to calibrate similar systems.
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https://hal-univ-bourgogne.archives-ouvertes.fr/hal-01620563
Contributeur : Le2i - Université de Bourgogne <>
Soumis le : mardi 8 juin 2021 - 15:19:14
Dernière modification le : vendredi 11 juin 2021 - 11:05:33

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fict-04-00019.pdf
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Distributed under a Creative Commons Paternité 4.0 International License

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Osama Mazhar, Ahmad Zawawi Jamaluddin, Cansen Jiang, David Fofi, Ralph Seulin, et al.. Design and Calibration of a Specialized Polydioptric Camera Rig. Frontiers in information and communication technologies, Frontiers Media S.A., 2017, 4, ⟨10.3389/fict.2017.00019⟩. ⟨hal-01620563⟩

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