Omnidirectional Vision Simulation and Robot Localisation

Most work that is carried out for omnidirec- tional robot vision is done on real hardware, with expensive mirrors. In this paper a robot simulator with accurate omnidirectional vision capability is presented. Vertically aligned co-axial omnistereo vision with two conical mirrors (Spacek, 2005) is tested using the simulator. Experiments are per- formed to calculate the distance to six objects and the results are compared to the known dis- tances. The calculated distances are then used in a simple natural landmark based localisation al- gorithm, and the estimated position of the robot is compared to the actual position.