OmniEye: A Spherical Omnidirectional Vision System to Sonify Robotic Trajectories in the AURAL Environment

This paper describes the OmniEye, an omnidirectional vision system developed to track mobile robots in AURAL, a computational structured environment. AURAL aims to control the interaction between visual, sound and robotic information in a research for automatic and semi-automatic processes of artistic production. Different convex mirrors can be used to achieve an omnidirectional system. The use of a spherical mirror in this case introduces distortions in the image. A toolbox for the calibration of central omnidirectional cameras was used to obtain a first estimation for the imaging function. On a second step, a genetic algorithm was applied to adjust the coefficients of the imaging function. Experimental results and the application of the OmniEye for translating robotic paths into sound events in the AURAL environment are described.