Development of a hemispherical compound Eye for egomotion estimation
Maddern, William & Wyeth, Gordon (2008) Development of a hemispherical compound Eye for egomotion estimation. In Kim, Jonghyuk & Mahony, Robert (Eds.) Proceedings of Australasian Conference on Robotics and Automation 2008, Australian Robotics and Automation Association Inc, Canberra.
Biological inspiration has produced some successful solutions for estimation of self motion from visual information. In this paper we present the construction of a unique new camera, inspired by the compound eye of insects. The hemispherical nature of the compound eye has some intrinsically valuable properties in producing optical flow fields that are suitable for egomotion estimation in six degrees of freedom. The camera that we present has the added advantage of being lightweight and low cost, making it suitable for a range of mobile robot applications. We present some initial results that show the effectiveness of our egomotion estimation algorithm and the image capture capability of the hemispherical camera.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Copyright Owner:||Copyright 2008 [please consult the authors]|
|Deposited On:||24 Jun 2010 13:03|
|Last Modified:||24 Jun 2010 13:03|
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