A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Catadioptric Projective Geometry
International Journal of Computer Vision
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Properties of the Catadioptric Fundamental Matrix
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Omni-Directional Structure from Motion
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Self-calibration of spherical rectification for a PTZ-stereo system
Image and Vision Computing
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For computation of the epipolar geometry from central-omni-directional images, the use of the spherical camera model is essential. This is because the central-omnidirectional cameras are universally expressed as the spherical camera model when the intrinsic parameters of the cameras are calibrated. Geometrically, for corresponding points between two spherical images, there exists the same epipolar constraint as the conventional pinhole-camera model. Therefore, it is possible to use the conventional eight-point algorithm for recovering camera motion and 3D objects from two spherical images. In this paper, using the geometric properties on rotation of the spheres, we propose a method of the accurate computation based on the rectification of the spherical-camera images via the conventional eight-point algorithm.