Phase Correlation for Dense Visual Compass from Omnidirectional Camera-Robot Images

Fabio Morbidi (1) , Guillaume Caron (1)

1 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

In this paper, we present a new omnidirectional visual compass for a camera-robot, based on the phase correlation method in the 2-D Fourier domain. The proposed visual compass is accurate, robust to image noise, and frugal in the use of computational resources. Moreover, unlike the majority of existing ego-motion estimators, it does not rely on any geometric image primitive, and it only requires a minimal knowledge of the internal camera parameters. Extensive real-world experiments conducted with a hypercatadioptric camera mounted on the end-effector of a Stäubli manipulator and on a Pioneer robot, show the effectiveness of our approach.

Mots clés: Catadioptric Camera; Omnidirectional Vision; Visual Compass

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Robotique [cs.RO]

Fabio Morbidi, Guillaume Caron. Phase Correlation for Dense Visual Compass from Omnidirectional Camera-Robot Images. IEEE Robotics and Automation Letters, 2017, 2 (2), pp.688-695. ⟨10.1109/LRA.2017.2650150⟩. ⟨hal-01424718v3⟩