Efficient Region Tracking With Parametric Models of Geometry and Illumination
IEEE Transactions on Pattern Analysis and Machine Intelligence
A brief historical perspective on panorama
Panoramic vision
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Efficient Homography-Based Tracking and 3-D Reconstruction for Single-Viewpoint Sensors
IEEE Transactions on Robotics
Photogeometric Direct Visual Tracking for Central Omnidirectional Cameras
Journal of Mathematical Imaging and Vision
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This paper addresses the problem of tracking a planar region of the scene using an uncalibrated omnidirectional camera. Omnidirectional cameras are a popular choice of visual sensors in robotics because the large field of view is well adapted to motion estimation and obstacle avoidance. The novelty of this work resides in simplifying the calibration phase by providing a direct approach to tracking without any prior knowledge of the camera, lens or mirror parameters. We deal with a nonlinear optimization problem that can be solved for small displacements between two images like those acquired at video rate by a camera mounted on a robot. In order to assess the performance of the proposed method, we perform experiments with synthetic and real data.