Acronym OMNISYS
Funding Reference FCT - POSI/SRI/41506/2001
Dates 2002-09|2005-08
Summary

The main objectives of this project are the study of problems related to robot perception and control using catadioptric systems. In particular visual servoing will include the use of uncalibrated images. The catadioptric systems that will be considered are central projection systems. The goals will include the development of mathematical models and coordinate systems that can simplify instances of servoing. The definition of features that can be robustly tracked with this type of images is also a goal of the project as well as the development of algorithms for servoing using partially calibrated or uncalibrated images. To reach this goal a systematic approach will be used. For that purpose a general mathematical model for perspective/catadioptric imaging formation will be established, covering the situations of vision system motion and the relative motions between the mirror and the imaging device that do not violate the central projection constraint.

Research Groups Computer and Robot Vision Lab (VisLab)
Project Partners ISR - Coimbra Pole
ISR/IST Responsible
José Gaspar
People
José Santos-Victor
[1] Roger Freitas, José Santos-Victor, Mario Sarcinelli-Filho, Teodiano Bastos-Filho, Performance Evaluation of Incremental Eigenspace Models for Mobile Robot Localization, Proc. ICAR2003 - 11th International Conference on Advanced Robotics, Coimbra, Portugal, 2003 - PDF
[2] Roger Freitas, José Santos-Victor, Mario Sarcinelli-Filho, Teodiano Bastos-Filho, Learning Navigation Maps by Looking at People, Proc. IAV 2004 - 5th IFAC/EURON Symposium on Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF
[3] Niall Winters, A Holistic Approach to Mobile Robot Navigation using Omnidirectional Vision, Ph.D. Thesis, (University of Dublin, Trinity College, Ireland, co-supervised at IST/ISR), 2002
[4] Niall Winters, José Santos-Victor, Information Sampling for Vision-Based Robot Navigation, Robotics and Autonomous Systems (Elsevier), 41(2-3), 2002 - PDF
[5] José Gaspar, Claudia Decco, Jun Okamoto Jr., José Santos-Victor, Constant Resolution Omnidirectional Cameras, OMNIVIS'02 - Workshop on Omnidirectional Vision, held with ECCV, Copenhagen, Denmark, 2002 - PDF
[6] Raquel Vassallo, José Santos-Victor, Hans-Jorg Schneebeli, A General Approach for Egomotion Estimation with Omnidirectional Images, OMNIVIS'02 - Workshop on Omnidirectional Vision, held with ECCV, Copenhagen, Denmark, 2002 - PDF