Image mosaicing for visual feedback in ground robot navigation

Sofia Esquivel-Hernandez, Rigoberto Juarez-Salazar, Jorge Gudino-Lau

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationOptics and Photonics for Information Processing XV
EditorsKhan M. Iftekharuddin, Abdul A. S. Awwal, Victor Hugo Diaz-Ramirez, Andres Marquez
ISBN (Electronic)9781510644762
StatePublished - 2021
EventOptics and Photonics for Information Processing XV 2021 - San Diego, United States
Duration: 1 Aug 20215 Aug 2021

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


ConferenceOptics and Photonics for Information Processing XV 2021
Country/TerritoryUnited States
CitySan Diego


  • Computer vision
  • Image mosaicing
  • Multicamera vision system
  • Robot navigation
  • Visual feedback control


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