Robot Navigation Using Panoramic Camera

Center for Machine Perception
http://cmp.felk.cvut.cz

Picture of a mobile robot with a panoramic camera. The panoramic camera is constructed from a perspective camera looking into a spherical mirror.

Picture taken from the panoramic camera, mounted on the robot.

Picture taken from the panoramic camera after the reprojection onto a cylindrical surface.

The video signal from the camera is on-line reprojected in the PC (using a look-up table) and then shown on the monitor. Operator sitting in front of the PC can control the robot using only a mouse. He clicks on the image and the robot starts moving that direction.

Video(Animated GIF):

1) Moving robot (16MB)

2) View into a spherical mirror (5.7MB)

3) Image warped onto a cyllinder (11.5MB), (half size 4MB)