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An omnicam, also known as a catadioptic camera, provides a 360° view of the word. A camera is mounted looking down at a curved mirror. This mirror is usually parabolic due to the ease of calibration but can be other shapes, such as hyperbolic or spherical. Detailed information about omnicams can be found in [Baker] |
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A sample image from the omnicam inside a hallway in the MARC building. |
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This is an ATRV-Jr robot built by RWI. It is designed for outdoor environments. A combination of skid steering and inaccurate sensors make dead-reckoning localization difficult. |
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A fiducial is an easy-to-find marker which acts as a point of reference. |
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Hallway with fiducials mounted |