Real-time omni-directional distance measurement with active panoramic vision

Sooyeong Yi, Byoungwook Choi, Narendra Ahuja

Research output: Contribution to journalArticlepeer-review


Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional mirror and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.

Original languageEnglish (US)
Pages (from-to)184-191
Number of pages8
JournalInternational Journal of Control, Automation and Systems
Issue number2
StatePublished - Apr 2007


  • Active vision
  • Mobile robot
  • Omni-directional mirror
  • Panoramic vision
  • Structured light

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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