Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Directions of Motion Fields are Hardly Ever Ambiguous
International Journal of Computer Vision
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Epipolar geometry of central panoramic catadioptric cameras
Panoramic vision
Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Omni-Directional Structure from Motion
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Ego-Motion and Omnidirectional Cameras
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Catadioptric Camera Calibration Using Geometric Invariants
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometric Properties of Central Catadioptric Line Images and Their Application in Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
A unifying geometric representation for central projection systems
Computer Vision and Image Understanding - Special issue on omnidirectional vision and camera networks
The randomized-Hough-transform-based method for great-circle detection on sphere
Pattern Recognition Letters
Epipolar geometry of catadioptric stereo systems with planar mirrors
Image and Vision Computing
Autonomous navigation of vehicles from a visual memory using a generic camera model
IEEE Transactions on Intelligent Transportation Systems
Planar catadioptric stereo: single and multi-view geometry for calibration and localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Self-location from monocular uncalibrated vision using reference omniviews
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Epipolar geometry via rectification of spherical images
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
Omnidirectional camera model and epipolar geometry estimation by RANSAC with bucketing
SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Robotics and Autonomous Systems
Omnidirectional visual control of mobile robots based on the 1D trifocal tensor
Robotics and Autonomous Systems
Adapted processing of catadioptric images using polarization imaging
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
A method for calibrating the parabolic camera using homographic matrix
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Decoupled image-based visual servoing for cameras obeying the unified projection model
IEEE Transactions on Robotics
Analytical forward projection for axial non-central dioptric and catadioptric cameras
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Estimation of omnidirectional camera model from epipolar geometry
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Calibration of Central Catadioptric Cameras Using a DLT-Like Approach
International Journal of Computer Vision
Design of vertically aligned binocular omnistereo vision sensor
Journal on Image and Video Processing - Special issue on multicamera information processing: acquisition, collaboration, interpretation, and production
Calibration of omnidirectional cameras in practice: A comparison of methods
Computer Vision and Image Understanding
A novel omnidirectional stereo vision system with a single camera
ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part II
Optical flow computation for compound eyes: variational analysis of omni-directional views
BVAI'05 Proceedings of the First international conference on Brain, Vision, and Artificial Intelligence
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
Robust image-based visual servoing using invariant visual information
Robotics and Autonomous Systems
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Central catadioptric cameras are cameras which combine lenses and mirrors to capture a very wide field of view with a central projection. In this paper we extend the classical epipolar geometry of perspective cameras to all central catadioptric cameras. Epipolar geometry is formulated as the geometry of corresponding rays in a three-dimensional space. Using the model of image formation of central catadioptric cameras, the constraint on corresponding image points is then derived. It is shown that the corresponding points lie on epipolar conics. In addition, the shape of the conics for all types of central catadioptric cameras is classified. Finally, the theory is verified by experiments with real central catadioptric cameras.