Navigation using a spherical camera

A novel group theoretical method is proposed for autonomous navigation based on a spherical image camera. The environment of a robot is captured on a sphere. The three dimensional scenes at two different points in the space are related by a transformation from the special Euclidean motion group which is the semi-direct product of the rotation and the translation groups. The motion of the robot is recovered by iteratively estimating the rotation and the translation in an ExpectationMaximization fashion.

• Type: Conference
• Year: 2008
• Where: ICPR
• Authors: Raman Arora, Harish Parthasarathy
• Keywords: Computer Vision, Euclidean Motion Group, Group Theoretical Method, ICPR 2008, Spherical Image Camera