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Abstract:In this paper, we proposed an omnidirectional ranging system that is able to obtain 360 o all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.Keywords: omnidirectional image, ranging system, laser structured light 그림 1. 구조광 영상 기반 전방향 거리측정 시스템.

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