Panorama scene analysis with conic projection

Proposes a conic projection image sensor (COPIS) as a navigation sensor on a mobile robot. The COPIS system is a new global positioning system which is able to get omnidirectional view information from one frame of a panoramic image. Thus, camera scanning is unnecessary. The authors report the configuration of the COPIS and its application to generate an environmental map of an indoor corridor from a moving robot. An object location is calculated from the image locus of vertical edges and the distance of the robot movement. The method uses common properties to many indoor environments rather than the geometrical world model.>