Self-calibration of hybrid central catadioptric and perspective cameras
Computer Vision and Image Understanding
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
Multi-view structure-from-motion for hybrid camera scenarios
Image and Vision Computing
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We describe a pipeline for structure-from-motion with mixed camera types, namely omni directional and perspective cameras. The steps of the pipeline can be summarized as calibration, point matching, pose estimation, triangulation and bundle adjustment. For these steps, we either propose improved methods or modify existing perspective camera methods to make the pipeline more effective and automatic when employed for hybrid camera systems.