Development of a hemispherical compound eye for egomotion estimation

Maddern, W. and Wyeth, G. (2008). Development of a hemispherical compound eye for egomotion estimation. In: Jonghyuk Kim and Robert Mahony, Proceeding of the 2008 Australasian Conference on Robotics & Automation. Australasian Conference on Robotics & Automation 2008 (ACRA 2008), Canberra, Australia, (1-8). 3-5 December 2008.


Author Maddern, W.
Wyeth, G.
Title of paper Development of a hemispherical compound eye for egomotion estimation
Conference name Australasian Conference on Robotics & Automation 2008 (ACRA 2008)
Conference location Canberra, Australia
Conference dates 3-5 December 2008
Proceedings title Proceeding of the 2008 Australasian Conference on Robotics & Automation
Journal name Proceedings of the 2008 Australasian Conference on Robotics and Automation, ACRA 2008
Place of Publication Canberra, Australia
Publisher Australian Robotics & Automation Association (ARAA)
Publication Year 2008
Sub-type Fully published paper
ISBN 978-0-646-50643-2
Editor Jonghyuk Kim
Robert Mahony
Start page 1
End page 8
Total pages 8
Language eng
Abstract/Summary 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.
Subjects E1
080101 Adaptive Agents and Intelligent Robotics
970109 Expanding Knowledge in Engineering
Q-Index Code E1
Q-Index Status Confirmed Code

 
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Created: Fri, 17 Apr 2009, 01:02:49 EST by Ms Kimberley Nunes on behalf of School of Information Technol and Elec Engineering