전방향카메라와자율이동로봇 2006. 12. 7. 특허청전기전자심사본부유비쿼터스심사팀 장기정 전방향카메라와자율이동로봇 1 Omnidirectional Cameras 전방향카메라와자율이동로봇 2
With Fisheye Lens 전방향카메라와자율이동로봇 3 With Multiple Cameras 전방향카메라와자율이동로봇 4
With Mirrors 전방향카메라와자율이동로봇 5 Panorama 전방향카메라와자율이동로봇 6
360 360 View Camera 전방향카메라와자율이동로봇 7 360 360 View Camera 전방향카메라와자율이동로봇 8
Central Catadioptric (Single-Viewpoint) 전방향카메라와자율이동로봇 9 Non-central Catadioptric 전방향카메라와자율이동로봇 10
Fixed Viewpoint Constraint To find : relations between r, z, c Mirror configuration Mirror surface 전방향카메라와자율이동로봇 11 Fixed Viewpoint Constraint Constraint Equation : General solution 1 : k: const General solution 2 : 전방향카메라와자율이동로봇 12
SVP-Catadioptric System Hyperboloid Ellipsoid Paraboloid 전방향 카메라와 자율이동로봇 13 3D Modeling (Reprojection to Projective Camera) 전방향 카메라와 자율이동로봇 14
Stereo Cameras 전방향카메라와자율이동로봇 15 Stereo Camera? Triangulation! 전방향카메라와자율이동로봇 16
Epipolar Constraint 전방향카메라와자율이동로봇 17 Parallel Stereo Camera System Base line: 12cm Base line: 10cm 전방향카메라와자율이동로봇 18
Reconstructed 3D 전방향카메라와자율이동로봇 19 Single Camera Stereo System 전방향카메라와자율이동로봇 20
Single Camera Parallel Stereo System 전방향카메라와자율이동로봇 21 Omnidirectional Stereo Cameras 전방향카메라와자율이동로봇 22
Omnidirectional Stereo System with Rotating Cameras 전방향카메라와자율이동로봇 23 Catadioptric Omnidirectional Stereo System 전방향카메라와자율이동로봇 24
Epipolar Constraint Epipolar lines for omni view : Radial lines Epipolar lines for panorama view : Vertical parallel lines 전방향카메라와자율이동로봇 25 Catadioptric Omnidirectional Stereo System 전방향카메라와자율이동로봇 26
Single-Camera Catadioptric Omnidirectional Stereo System 전방향카메라와자율이동로봇 27 Single-Camera Catadioptric Omnidirectional Stereo System 전방향카메라와자율이동로봇 28
Omnidirectional Stereo System with Double-Lobed Mirror 전방향카메라와자율이동로봇 29 Wide Baseline Stereo System (two mirrors) Type 1 Type 2 Two different choices for upper mirror, lower mirror, topological type 8 different configurations 전방향카메라와자율이동로봇 30
Folding Scheme The system size is almost twice the length of the baseline!!! upper mirror base line base line Folding upper mirror 전방향카메라와자율이동로봇 31 Folded catadioptric Systems 9 different configurations for folding the catadioptric system 전방향카메라와자율이동로봇 32
Wide Baseline Stereo System (three mirrors) For a single folding scheme 4 different configurations are possible!!! Two different choices for upper mirror, topological type 36 different configurations 전방향카메라와자율이동로봇 33 System configuration Wide-baseline (12cm) with compact system 전방향카메라와자율이동로봇 34
Depth Resolution depth error: maximum 3% (in images with 1200 scan-line) 전방향카메라와자율이동로봇 35 Captured Image 전방향카메라와자율이동로봇 36
Disparity map with panorama 16 16 0 Disparity map 360 Upper view Lower view Stereo matching with reverse verification to cancel out false matching 전방향카메라와자율이동로봇 37 3D reconstruction Stereo matching - simplest SAD Reverse verification - ambiguous region (self-occlusion, homogeneous region) Totally, 0.5sec for a single reconstruction with 2.8GHz PC preserve the linearity at the reconstructed linear edge Vertical projection of 10cm near the table top 전방향카메라와자율이동로봇 38
3D Reconstruction 전방향카메라와자율이동로봇 39 Real-time Panoramic 3D 전방향카메라와자율이동로봇 40
Mobile Robot Localization 전방향카메라와자율이동로봇 41 Previous Work (SLAM) (Sebastian Thrun, CMU, ICRA2000) (Andrew Davison, Oxford, ICCV2003) 전방향카메라와자율이동로봇 42
Data Acquisition Catadioptric Vision Focal point of the hyperboloidal mirror Hyperboloidal mirror P(X,Y,Z) Z: constant Image plane p(x,y) principal point of the lens Omnidirectional images at the horizon 전방향카메라와자율이동로봇 43 ORP (Omnidirectional Route Panorama) angle time 전방향카메라와자율이동로봇 44
Feature Tracking angle time 전방향카메라와자율이동로봇 45 SLAM Exp. (Real Indoor Environment) 전방향카메라와자율이동로봇 46
SLAM Experiment 전방향카메라와자율이동로봇 47 PR-SLAM EXP. (3 rd floor of EE building) 전방향카메라와자율이동로봇 48
PR-SLAM Exp. (Calibrated) 전방향카메라와자율이동로봇 49 Space Carving Exp. 전방향카메라와자율이동로봇 50
Colored Occupancy Map (COM) 전방향카메라와자율이동로봇 51 Global Localization with Color Measurements 전방향카메라와자율이동로봇 52
Global Localization with Color Measurements 전방향카메라와자율이동로봇 53 Global Localization with Color Measurements 전방향카메라와자율이동로봇 54
Mobile Robot Navigation Exp. 전방향카메라와자율이동로봇 55 Object Tracking Exp. 전방향카메라와자율이동로봇 56
Thank you for attention!