International Journal of Robotics Research
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Motor Algebra for 3D Kinematics: The Case of the Hand-Eye Calibration
Journal of Mathematical Imaging and Vision
Multiple view geometry in computer vision
Multiple view geometry in computer vision
New algebraic tools for classical geometry
Geometric computing with Clifford algebras
Generalized homogeneous coordinates for computational geometry
Geometric computing with Clifford algebras
Theory of Robot Control
Total Least Squares in Robot Calibration
The 4th International Symposium on Experimental Robotics IV
The Dual Quaternion Approach to Hand-Eye Calibration
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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The research, described in this paper, concerns the robot indoor navigation, emphasizing the aspects of sensor model and calibration, environment representation, and self-localization. The main point is that combining all of these aspects, an effective navigation system is obtained. We present a model of the catadioptric image formation process. Our model simplifies the operations needed in the catadioptric image process. Once we know the model of the catadioptric sensor, we have to calibrate it with respect to the other sensors of the robot, in order to be able to fuse their information. When the sensors are mounted on a robot arm, we can use the hand-eye calibration algorithm to calibrate them. In our case the sensors are mounted on a mobile robot that moves over a flat floor, thus the sensors have less degrees of freedom. For this reason we develop a calibration algorithm for sensors mounted on a mobile robot. Finally, combining all the previous results and a scan matching algorithm that we develop, we build 3D maps of the environment. These maps are used for the self-localization of the robot and to carry out path following tasks. In this work we present experiments which show the effectiveness of the proposed algorithms.