Panoramic Mosaicing with a 180° Field of View Lens
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Matching with PROSAC " Progressive Sample Consensus
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Multiple View Geometry and the L_"-norm
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Putting Objects in Perspective
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Fast Compact City Modeling for Navigation Pre-Visualization
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Towards Urban 3D Reconstruction from Video
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Quasiconvex Optimization for Robust Geometric Reconstruction
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper we present a pipeline for camera pose and trajectory estimation, and image stabilization and rectification for dense as well as wide baseline omnidirectional images. The input is a set of images taken by a single hand-held camera. The output is a set of stabilized and rectified images augmented by the computed camera 3D trajectory and reconstruction of feature points facilitating visual object recognition. The paper generalizes previous works on camera trajectory estimation done on perspective images to omnidirectional images and introduces a new technique for omnidirectional image rectification that is suited for recognizing people and cars in images. The performance of the pipeline is demonstrated on a real image sequence acquired in urban as well as natural environments.