Omnidirectional Distributed Vision for Multi-Robot Mapping

In this paper, we propose our ideas for realising a Distributed Vision System for building a map of a large environment with a team of mobile robots equipped only with vision sensors. The vision sensors used in this work are catadioptric omnidirectional vision systems. The mirrors of these catadioptric systems have pro les expressly designed for the robot's body and for the robot's task. We report preliminary experiments on the interactions between the vision systems of the di erent robots.