Sequential Updating of Projective and Affine Structure from Motion
International Journal of Computer Vision
Computer Vision and Image Understanding
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Paracatadioptric Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Omni-Directional Structure from Motion
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Mixing Catadioptric and Perspective Cameras
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Nonlinear Estimation of the Fundamental Matrix with Minimal Parameters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
A Generic Camera Calibration Method for Fish-Eye Lenses
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 1 - Volume 01
Image Registration with Uncalibrated Cameras in Hybrid Vision Systems
WACV-MOTION '05 Proceedings of the Seventh IEEE Workshops on Application of Computer Vision (WACV/MOTION'05) - Volume 1 - Volume 01
Epipolar Geometry of Central Projection Systems Using Veronese Maps
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Effective Structure-from-Motion for Hybrid Camera Systems
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
Self-calibration of a general radially symmetric distortion model
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Improved SIFT-features matching for object recognition
VoCS'08 Proceedings of the 2008 international conference on Visions of Computer Science: BCS International Academic Conference
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We describe a pipeline for structure-from-motion (SfM) with mixed camera types, namely omnidirectional and perspective cameras. For the steps of this pipeline, we propose new approaches or adapt the existing perspective camera methods to make the pipeline effective and automatic. We model our cameras of different types with the sphere camera model. To match feature points, we describe a preprocessing algorithm which significantly increases scale invariant feature transform (SIFT) matching performance for hybrid image pairs. With this approach, automatic point matching between omnidirectional and perspective images is achieved. We robustly estimate the hybrid fundamental matrix with the obtained point correspondences. We introduce the normalization matrices for lifted coordinates so that normalization and denormalization can be performed linearly for omnidirectional images. We evaluate the alternatives of estimating camera poses in hybrid pairs. A weighting strategy is proposed for iterative linear triangulation which improves the structure estimation accuracy. Following the addition of multiple perspective and omnidirectional images to the structure, we perform sparse bundle adjustment on the estimated structure by adapting it to use the sphere camera model. Demonstrations of the end-to-end multi-view SfM pipeline with the real images of mixed camera types are presented.