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The omnidirectional view contains precise azimuth information determined by the resolution of the camera rotation. The range is obtained from two omnidirectional images taken through two slits when the camera moves along a circular path. This range estimate contains errors due to a finite resolution of the camera rotation system, while a conventional binocular stereo method contains errors due to quantization of images. The representation of an environment, \u201cpanoramic representation,\u201d by the omnidirectional view and range information is useful for a vision sensor of a mobile robot.<\/jats:p>","DOI":"10.1002\/scj.4690230405","type":"journal-article","created":{"date-parts":[[2007,7,7]],"date-time":"2007-07-07T23:32:43Z","timestamp":1183851163000},"page":"47-56","source":"Crossref","is-referenced-by-count":1,"title":["Acquiring omnidirectional range information"],"prefix":"10.1002","volume":"23","author":[{"given":"Hiroshi","family":"Ishiguro","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masashi","family":"Yamamoto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Saburo","family":"Tsuji","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"J.Aloimonous A.BandopdhayandI.Weiss.Active Vision. Proc. Int. Conf. Computer Vision pp.35\u201354(1987)."},{"key":"e_1_2_1_3_2","unstructured":"D. H.Ballard.Reference Frame for Animate Vision. Proc. Int. Joint Conf. Artificial Intelligence pp.1635\u20131641(1989)."},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"Y.YagiandS.Kawato.Panorama Scene Analysis with Conic Projection. Proc. IEEE\/RSJ Int. Work shop on Intelligent Robots and Systems '90 pp.181\u2013187(1990).","DOI":"10.1109\/IROS.1990.262385"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"T.Morita Y.Yasukawa Y.Inamoto T.UchiyamaandS.Kawakami.Measurement in Three Dimensions by Motion Stereo and Spherical Mapping. Proc. Conf. Computer Vision & Pattern Recognition pp.422\u2013428(1989).","DOI":"10.1109\/CVPR.1989.37881"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"K. B.Sarachik.Characterizing an Indoor Environment with a Mobile Robot and Uncalibrated Stereo. Proc. IEEE Int. Conf. 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