Static Environment Recognition Using Omni-camera from a Moving Vehicle

This research aims to develop a sensor system which will be able to recognize city area environments from a mov- ing vehicle. A city area which is a rather cluttered out- door man-made environment requires different recognition methods from indoor or highway environments. Toward this goal, we employed an omni-directional camera and vehicle odometry. Also, for better recognition in the to- tal sensing system, estimated geometrical information is fed-back to image processing. In this paper, as our first progress report, we explain our approach of using omni- camera on a vehicle and setup of a platform, and show an experimental result of two dimensional static environment recognition from a moving vehicle.