Omnidirectional Free Space Detection using Contour Active with Riemannian Metric

The direct classic processing on the catadioptric images end in errors. The latter are related mainly to the difference in the resolution of the omnidirectional images that is raised up to the periphery and weak in the center of the image. In this paper, we propose a solution, based on a model of parametric active contour in Riemannian metric, which is adapted for the catadioptric images. This model of active contour is designed for the extraction of the free space, which will allow establishing a system of autonomous navigation of a mobile robot in real time. The approach adopted here is compared with methods of classic active contours.