Oriented projective geometry
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Oriented Projective Geometry for Computer Vision
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
A Theory of Catadioptric Image Formation
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
Omnidirectional Robot Vision Using Conformal Geometric Computing
Journal of Mathematical Imaging and Vision
A new linear algorithm for calibrating central catadioptric cameras
Pattern Recognition
Indoor navigation of a non-holonomic mobile robot using a visual memory
Autonomous Robots
Fast Central Catadioptric Line Extraction
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
A Simple Method of Radial Distortion Correction with Centre of Distortion Estimation
Journal of Mathematical Imaging and Vision
Equidistant (fθ) fish-eye perspective with application in distortion centre estimation
Image and Vision Computing
Decoupled visual servoing based on the spherical projection of points
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Robotics and Autonomous Systems
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Calibration of omnidirectional cameras in practice: A comparison of methods
Computer Vision and Image Understanding
A calibration method for paracatadioptric camera from sphere images
Pattern Recognition Letters
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It is highly desirable that an imaging system has a single effective viewpoint. Central catadioptric systems are imaging systems that use mirrors to enhance the field of view while keeping a unique center of projection. A general model for central catadioptric image formation has already been established. The present paper exploits this model to study the catadioptric projection of lines. The equations and geometric properties of general catadioptric line imaging are derived. We show that it is possible to determine the position of both the effective viewpoint and the absolute conic in the catadioptric image plane from the images of three lines. It is also proved that it is possible to identify the type of catadioptric system and the position of the line at infinity without further information. A methodology for central catadioptric system calibration is proposed. Reconstruction aspects are discussed. Experimental results are presented. All the results presented are original and completely new.