Geometry of a hybrid stereo vision system for robotics applications

FLAVIO ROBERTI; VASSALLO, R.; TOIBERO, J. M.; SORIA, C.; CARELLI, R.

Bahia Blanca, Argentina

Jornada; V Jornadas Argentinas de Robótica; 2008

This paper presents a hybrid stereo vision system composed by a catadioptric vision system and a conventional perspective projection camera for mobile robotics applications. The main contributions of this paper are the proposition of a 3D position sensing method and a sensitivity analysis for the catadioptric vision system. The sensing method is developed based on the geometrical characteristics of the independent vision systems, their projection models and the relative position between them. The sensitivity analysis is useful in determining those regions which allow more reliable measurements. Some preliminary experiments are also presented to validate the proposed method.