3D Environment Measurement Using Binocular Stereo and Motion Stereo by Mobile Robot with Omnidirectional Stereo Camera

Map information is important for path planning and self-localization when mobile robots accomplish autonomous tasks. In unknown environments, they should generate en-vironment 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 in traditional methods for measurement by omnidi-rectional camera. However, each method has advantages and disadvantages. In this paper, we aim to improve mea-surement accuracy by integrating binocular stereo and mo-tion stereo using two omnidirectional cameras installed on a mobile robot. In addition, stereo matching accuracy is improved by considering omnidirectional image distortion. Experimental results show the effectiveness of our proposed method. 1