This is a utility for dealing with images obtained from omnidirectional vision systems. It is intended for use on mobile robots equipped with omnidirectional vision sensors.

• How to make an omnidirectional vision system
• Installing the software
• Running the software
• Unwarping the image
• Projecting the image onto the ground plane
• Detecting lines
• Calculating optical flow
• Running the software in 'headless' mode
• Streaming video over a network
• Saving images, edge features, lines and ray paths

Some example videos

• Detection of edge features
• Planar projection
• Planar projection of edge features
• Detecting radial lines
• Image unwarping
• Optical flow