A mobile platform with a catadioptric sensor
- 1Department of Cartography, Univ Estadual Paulista – Unesp, Rua Roberto Simonsen, 305, 19060-900, Pres. Prudente, S.P., Brazil
- 2Faculdade de Engenharia, Arquitetura e Urbanismo e Geografia – FAENG, Univ. Federal de Mato Grosso do Sul – UFMS, 79070- 900, Campo Grande, M.S., Brazil
- 3IFSP – Instituto Federal de Educação, Ciência e Tecnologia de São Paulo, Rua José Ramos Júnior, 27-50, 19470-000, Presidente Epitácio – S.P. Brazil
Keywords: Mobile, Mapping, Modelling, Orientation, Sensor
Abstract. The aim of this paper is to present a mobile catadioptric omnidirectional vision system composed of a camera and a cone-shaped mirror integrated with a direct georeferencing system. The relationship between image and object space is established with generic/empiric or physical models. The models were implemented and tested with real data and some results are presented. The results showed that accuracies around 5 cm in planimetry can be achieved, which is suitable for several applications, including the generation of control scenes that was the original motivation of this work.