Planar catadioptric stereo: single and multi-view geometry for calibration and localization

Authors:
Gian Luca Mariottini;Stefano Scheggi;Fabio Morbidi;Domenico Prattichizzo
Affiliations:
Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN;Dipartimento di Ingegneria dell'Informazione, University of Siena, Siena, Italy;Dipartimento di Ingegneria dell'Informazione, University of Siena, Siena, Italy;Dipartimento di Ingegneria dell'Informazione, University of Siena, Siena, Italy
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

Planar Catadioptric Stereo vision sensors (PCS) combine a pinhole camera with two or more planar mirrors. PCS have recently received an increasing attention since a stereo view can be easily obtained without the need of exact multi-camera synchronization and calibration. In this paper we present a rigorous analytical treatment of the imaging geometry of PCS, propose new mirror calibration algorithms and introduce new multi-view properties that can be used for eye-in-hand camera localization. The effectiveness of the algorithms is shown via extensive simulation and real-data experiments on a robotic manipulator.