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Nowadays, computer vision is an essential part of modern autonomous mobile robots. Fisheye cameras are employed to capture large scenes with a single camera, but the hard radial distortion limits the accuracy of measurements. In this research, a vision system with multiple low-distortion cameras to capture large flat scenes from different viewpoints is proposed. This system applies a homography-based image mosaicing method and linear image interpolation. The obtained results show that the proposed system is useful for visual navigation of ground mobile robots.
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Sofia Esquivel-Hernandez, Rigoberto Juarez-Salazar, Jorge Gudino-Lau, "Image mosaicing for visual feedback in ground robot navigation," Proc. SPIE 11841, Optics and Photonics for Information Processing XV, 1184103 (1 August 2021); https://doi.org/10.1117/12.2594664