DARPA The Mercator Project IPTO Office DARPA's MARS Program


OMNICAM IMAGES:

Our modified Pioneer AT was used to collect laser range data and omnicam image data. From that, 180 degree strips are extracted.


Raw Image


Calibrated image with strip

Driving through the corridor, the robot collected 3,731 images at frame rate and constructed a large 180 panoramic mosaic of the corridor.