A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of 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
Visual tracking of planes with an uncalibrated central catadioptric camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Computer Vision
Omnidirectional image processing using geodesic metric
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
A Variational Framework for Structure from Motion in Omnidirectional Image Sequences
Journal of Mathematical Imaging and Vision
Efficient Homography-Based Tracking and 3-D Reconstruction for Single-Viewpoint Sensors
IEEE Transactions on Robotics
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The fundamental task of visual tracking is considered in this work as a direct image registration problem. Direct methods refer to those that exploit the pixel intensities without intermediate steps, e.g., no extraction of image features. This article proposes new photogeometric transformation models and nonlinear optimization methods for directly registering central omnidirectional images. The proposed models ensure robustness to arbitrary illumination changes, as well as encompass all classes of projective deformations of planar objects within those images. Experimental results show that visual tracking can indeed be highly robust and accurate even for this type of vision systems.