Vol. 5, Special Issue, March 2009, pp.3-17

An Omnidirectional Stereoscopic System for Mobile Robot Navigation

Rémi BOUTTEAU, Xavier SAVATIER,

Jean-Yves ERTAUD, Bélahcène MAZARI

Research Institute for Embedded Systems (IRSEEM),

Technopole du Madrillet – Av. Galilée – BP10024

76801 Saint Etienne du Rouvray Cedex – France

Tel.: +33 2 32 91 58 58

E-mail: remi.boutteau@esigelec.fr

Received: 30 January 2009   /Accepted: 20 February 2009   /Published: 23 March 2009

Abstract: This paper proposes a scheme for a 3D metric reconstruction of the environment of a mobile robot. We first introduce the advantages of a catadioptric stereovision sensor for autonomous navigation and how we have designed it with respect to the Single Viewpoint constraint. For applications such as path generation, the robot needs a metric reconstruction of its environment, therefore a calibration of the sensor is required. After the justification of the chosen model, a calibration method to obtain the model parameters and the relative pose of the two catadioptric sensors is presented. Knowledge of all the sensor parameters yields the 3D metric reconstruction of the environment by triangulation. The entire process has been evaluated using real data.

Keywords: Omnidirectional sensor, Calibration, Stereovision

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