Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Image Registration Using Wavelet-Based Motion Model
International Journal of Computer Vision
Image Registration for Foveated Omnidirectional Sensing
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
A direct method for stereo correspondence based on singular value decomposition
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Omnidirectional Vision: Theory and Algorithms
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
An efficient method to build panoramic image mosaics
Pattern Recognition Letters
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Non-Single Viewpoint Catadioptric Cameras: Geometry and Analysis
International Journal of Computer Vision
Single-View-Point Omnidirectional Catadioptric Cone Mirror Imager
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic Panoramic Image Stitching using Invariant Features
International Journal of Computer Vision
Instantaneous robot self-localization and motion estimation with omnidirectional vision
Robotics and Autonomous Systems
An HVSM for improving the homing ability of visual robots
International Journal of Intelligent Systems Technologies and Applications
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
A review of log-polar imaging for visual perception in robotics
Robotics and Autonomous Systems
Planar surface detection in image pairs using homographic constraints
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part I
Fast algorithm for robust template matching with M-estimators
IEEE Transactions on Signal Processing
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This article addresses the problem of registering high-resolution, small field-of-view images with low-resolution panoramic images provided by a panoramic catadioptric video sensor. Such systems may find application in surveillance and telepresence systems that require a large field of view and high resolution at selected locations. Although image registration has been studied in more conventional applications, the problem of registering panoramic and conventional video has not previously been addressed, and this problem presents unique challenges due to (i) the extreme differences in resolution between the sensors (more than a 16:1 linear resolution ratio in our application), and (ii) the resolution inhomogeneity of panoramic images. The main contributions of this article are as follows. First, we introduce our foveated panoramic sensor design. Second, we show how a coarse registration can be computed from the raw images using parametric template matching techniques. Third, we propose two refinement methods allowing automatic and near real-time registration between the two image streams. The first registration method is based on matching extracted interest points using a closed form method. The second registration method is featureless and based on minimizing the intensity discrepancy allowing the direct recovery of both the geometric and the photometric transforms. Fourth, a comparison between the two registration methods is carried out, which shows that the featureless method is superior in accuracy. Registration examples using the developed methods are presented.