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Image Processing

Catadioptric System and Omnidirectional vision

Catadioptric system is a method used on robotics in order to extend the field of view given by conventional cameras. It is achieved using conic mirrors with know properties (hyperbolic, parabolic and spheric shapes) and the use of the geometric properties, in order to obtain clear images that can be modeled through the unitary sphere model.

Color-based feature extraction and tracking

Color features are used as key points to detect objects of interest based on the HSV color space and the CamShift [GaryBradski1998] algorithm. The algorithms have been tested in non-controlled environments -outdoors-, with illumination changes, and in controlled environments.