Omnidirectional Sensing and Its Applications

The goal of this paper is to present a critical survey of existing literature on an omnidirectional sensing. The area of vision application such as autonomous robot navigation, telepresence and virtual reality is expanding by use of a camera with a wide angle of view. In particular, a real-time omnidirectional camera with a single center of projection is suitable for analyzing and monitoring, because we can easily generate any desired image projected on any designated image plane, such as a pure perspective image or a panoramic image, from the omnidirectional input image. In this paper, I review designs and principles of existing omnidirectional cameras, which can acquire an omnidirectional (360 degrees) field of view, and their applications in fields of autonomous robot navigation, telepresence, remote surveillance and virtual reality. key words: omnidirectional camera, multiple sensing camera, panoramic view, omnidirectional view, computer vision

[1]  Saburo Tsuji,et al.  Panoramic representation for route recognition by a mobile robot , 1992, International Journal of Computer Vision.

[2]  Yasushi Yagi,et al.  Omnidirectional imaging with hyperboloidal projection , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[3]  Hiroshi Ishiguro,et al.  Omni-Directional Stereo , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[4]  Yasushi Yagi,et al.  The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[5]  Yasushi Yagi,et al.  Obstacle detection with omnidirectional image sensor HyperOmni Vision , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Karen B. Sarachik.  Characterising an indoor environment with a mobile robot and uncalibrated stereo , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[7]  Pascal Vasseur,et al.  Incremental map building for mobile robot navigation in an indoor environment , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[8]  Zuoliang Cao.  Beacon recognition in omni-vision guidance , 1990, Marketplace for Industrial Lasers.

[9]  Naokazu Yokoya,et al.  Telepresence by Real-Time View-Dependent Image Generation from Omnidirectional Video Streams , 1998, Comput. Vis. Image Underst..

[10]  Edward M. Riseman,et al.  Image-based homing , 1991, IEEE Control Systems.

[11]  Ernest L. Hall,et al.  Three-dimensional line following using omnidirectional vision , 1994, Other Conferences.

[12]  Michael Mills,et al.  Panoramic overviews for navigating real-world scenes , 1993, MULTIMEDIA '93.

[13]  Shree K. Nayar,et al.  Catadioptric omnidirectional camera , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[14]  Hiroshi Ishiguro,et al.  A strategy for acquiring an environmental model with panoramic sensing by a mobile robot , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[15]  Hiroshi Ishiguro,et al.  Building environmental models of man-made environments by panoramic sensing , 1994, Adv. Robotics.

[16]  Yasushi Yagi,et al.  Building local floor map by use of ultrasonic and omni-directional vision sensor , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[17]  Saburo Tsuji,et al.  From anorthoscope perception to dynamic vision , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[18]  Claude Pégard,et al.  A mobile robot using a panoramic view , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[19]  E. L. Hall,et al.  Color Target Recognition Using Omnidirectional Vision , 1987, Other Conferences.

[20]  Masayuki Inaba,et al.  Memory-Based Navigation using Omni-View Sequence , 1998 .

[21]  Ryad Benosman,et al.  Multidirectional stereovision sensor, calibration and scenes reconstruction , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[22]  Takashi Uchiyama,et al.  Measurement in three dimensions by motion stereo and spherical mapping , 1989, Proceedings CVPR '89: IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[23]  Saburo Tsuji,et al.  Panoramic representation of scenes for route understanding , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[24]  Anup Basu,et al.  Panoramic stereo , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[25]  Naokazu Yokoya,et al.  Generation of high-resolution stereo panoramic images by omnidirectional imaging sensor using hexagonal pyramidal mirrors , 1998, Proceedings. Fourteenth International Conference on Pattern Recognition (Cat. No.98EX170).

[26]  M. Yachida.  Omnidirectional sensing and combined multiple sensing , 1998, Proceedings 1998 IEEE and ATR Workshop on Computer Vision for Virtual Reality Based Human Communications.

[27]  Narendra Ahuja,et al.  Panoramic image acquisition , 1996, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[28]  Matthew J. Barth,et al.  A fast panoramic imaging system and intelligent imaging technique for mobile robots , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[29]  Yasushi Yagi,et al.  Panorama scene analysis with conic projection , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[30]  Hiroshi Ishiguro,et al.  Active Vision By Multiple Visual Agents , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  Shree K. Nayar,et al.  Ego-motion and omnidirectional cameras , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[32]  Yasushi Yagi,et al.  Route representation for mobile robot navigation by omnidirectional route panorama Fourier transformation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[33]  Sx Godber,et al.  Panoramic line-scan imaging system for teleoperator control , 1994, Electronic Imaging.

[34]  Myung Jin Chung,et al.  Sensor-based local homing using Omnidirectional Range and Intensity Sensing System for indoor mobile robot navigation , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[35]  Shenchang Eric Chen,et al.  QuickTime VR: an image-based approach to virtual environment navigation , 1995, SIGGRAPH.

[36]  Yasushi Yagi,et al.  Multiple visual sensing system for mobile robot , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[37]  Guangyou Xu,et al.  Combining rotation-invariance images and neural networks for road scene understanding , 1996, Proceedings of International Conference on Neural Networks (ICNN'96).

[38]  Hiroshi Ishiguro,et al.  Image-based memory of environment , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[39]  Ernest L. Hall,et al.  Omnidirectional vision applications for line following , 1995, Other Conferences.

[40]  Ernest L. Hall,et al.  Dynamic Omnidirectional Vision For Mobile Robots , 1985, Other Conferences.

[41]  Pal Greguss.  The tube-peeper: A new concept in endoscopy Optics and Laser Technology , 1985 .

[42]  Shree K. Nayar,et al.  A theory of catadioptric image formation , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[43]  Naokazu Yokoya,et al.  Visual surveillance and monitoring system using an omnidirectional video camera , 1998, Proceedings. Fourteenth International Conference on Pattern Recognition (Cat. No.98EX170).

[44]  Hiroshi Ishiguro,et al.  T-Net for navigating a vision-guided robot in a real world , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[45]  Masashi Yamamoto,et al.  Analysis of omni-directional views at different location , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[46]  Yasushi Yagi,et al.  Autonomous Guidance Robot System with Omnidirectional Image Sensor , 1997 .

[47]  Yasushi Yagi,et al.  Detection of unknown moving objects by reciprocation of observed information between mobile robot , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[48]  Yasushi Yagi,et al.  Stabilization for mobile robot by using omnidirectional optical flow , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[49]  D. Southwell,et al.  Omni-directional sensors for pipe inspection , 1995, 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century.

[50]  Yasushi Yagi,et al.  Real-time omnidirectional image sensor (COPIS) for vision-guided navigation , 1994, IEEE Trans. Robotics Autom..

[51]  Yasushi Yagi,et al.  Map-based navigation for a mobile robot with omnidirectional image sensor COPIS , 1995, IEEE Trans. Robotics Autom..

[52]  David W. Murray.  Recovering Range Using Virtual Multicamera Stereo , 1995, Comput. Vis. Image Underst..

[53]  H. Ishiguro,et al.  Distributed panoramic sensing in multiagent robotics , 1994, Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems.