Mathematical modelling and applications of spherical catadioptric omnidirectional view sensors

Dr. Chong Nguan Soon's thesis presents mathematical modellings of spherical catadioptric omnidirectional view sensors and their applications in robotics. Spherical catadioptric omnidirectional view sensors are cameras that capture an entire surrounding in a single image. They are particularly useful in surveillance and robotics applications due to the low cost advantage and completeness in the captured view. His research work involves a real-time view conversion technique that reconstructs omnidirectional view images into human-perceivable perspective view images, and a scene recognition algorithm. The results of his study enable the said sensor to be used in applications such as visual-based location-aware robots.