MAPPING A SPACE USING A MULTI-DIRECTIONAL CAMERA

摘要

Certain examples described herein relate to mapping a space using a multi-directional camera. This mapping may be performed in relation to a robotic device comprising a monocular multi-directional camera device and at least one movement actuator. The mapping may generate an occupancy map to determine navigable portions of the space. In examples, a movement of the robotic device around a point in a plane of movement is instructed using the at least one movement actuator. Using the monocular multi- directional camera device, a sequence of images are then obtained (610) at a plurality of different angular positions during the instructed movement. Pose data is determined (620) from the sequence of images. The pose data is determined using a set of features detected within the sequence of images. Depth values are then estimated (630) by evaluating a volumetric function of the sequence of images and the pose data. The depth values are processed (640) to populate the occupancy map for the space.