A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Multiple view geometry in computer vision
Multiple view geometry in computer vision
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Catadioptric Line Features Detection using Hough Transform
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 4 - Volume 04
Geometric Properties of Central Catadioptric Line Images and Their Application in Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast Central Catadioptric Line Extraction
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
International Journal of Robotics Research
Fitting conics to paracatadioptric projections of lines
Computer Vision and Image Understanding
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Conic fitting using the geometric distance
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Localization and Matching Using the Planar Trifocal Tensor With Bearing-Only Data
IEEE Transactions on Robotics
A unified framework for line extraction in dioptric and catadioptric cameras
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Line image signature for scene understanding with a wearable vision system
Proceedings of the 4th International SenseCam & Pervasive Imaging Conference
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In central catadioptric systems 3D lines are projected into conics. In this paper we present a new approach to extract conics in the raw catadioptric image, which correspond to projected straight lines in the scene. Using the internal calibration and two image points we are able to compute analytically these conics which we name hypercatadioptric line images. We obtain the error propagation from the image points to the 3D line projection in function of the calibration parameters. We also perform an exhaustive analysis on the elements that can affect the conic extraction accuracy. Besides that, we exploit the presence of parallel lines in man-made environments to compute the dominant vanishing points (VPs) in the omnidirectional image. In order to obtain the intersection of two of these conics we analyze the self-polar triangle common to this pair. With the information contained in the vanishing points we are able to obtain the 3D orientation of the catadioptric system. This method can be used either in a vertical stabilization system required by autonomous navigation or to rectify images required in applications where the vertical orientation of the catadioptric system is assumed. We use synthetic and real images to test the proposed method. We evaluate the 3D orientation accuracy with a ground truth given by a goniometer and with an inertial measurement unit (IMU). We also test our approach performing vertical and full rectifications in sequences of real images.