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Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, they should generate their environment maps by themselves. An omnidirectional camera is effective for environment measurement, because it has a wide field of view. There are binocular stereo and motion stereo for measurement by omnidirectional camera. However, each method has advantages and disadvantages. Then, in this paper, we aim to improve accuracy of measurement by omnidirectional cameras using binocular stereo together with motion stereo. Experiments showed the validity of the proposed method by the mobile robot equipped with an omnidirectional stereo camera system.

1A2-E29 3D Measurement by Omnidirectional Stereo Camera System Using Binocular Stereo Together with Motion Stereo