Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Catadioptric Omnidirectional Camera
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Metric Rectification for Perspective Images of Planes
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Direct Least Squares Fitting of Ellipses
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
Geometric Properties of Central Catadioptric Line Images
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
VideoPlus: A Method for Capturing the Structure and Appearance of Immersive Environments
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Rendering with Non-uniform Approximate Concentric Mosaics
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Matching in Catadioptric Images with Appropriate Windows, and Outliers Removal
CAIP '01 Proceedings of the 9th International Conference on Computer Analysis of Images and Patterns
Equi-areal Catadioptric Sensors
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Constant Resolution Omnidirectional Cameras
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Panoramic Mosaicing with a 180° Field of View Lens
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D Tracking by Catadioptric Vision Based on Particle Filters
RoboCup 2007: Robot Soccer World Cup XI
Spherical Edge Detector: Application to Omnidirectional Imaging
ACIVS '08 Proceedings of the 10th International Conference on Advanced Concepts for Intelligent Vision Systems
A Generic Method of Line Matching for Central Imaging Systems under Short-Baseline Motion
ICIAP '09 Proceedings of the 15th International Conference on Image Analysis and Processing
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
Tracking objects with generic calibrated sensors: An algorithm based on color and 3D shape features
Robotics and Autonomous Systems
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
Generic Self-calibration of Central Cameras from Two Rotational Flows
International Journal of Computer Vision
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
A cubic polynomial model for fisheye camera
HCII'11 Proceedings of the 14th international conference on Human-computer interaction: design and development approaches - Volume Part I
Complex and photo-realistic scene representation based on range planar segmentation and model fusion
International Journal of Robotics Research
Calibration of omnidirectional cameras in practice: A comparison of methods
Computer Vision and Image Understanding
Image Based and Hybrid Visual Servo Control of an Unmanned Aerial Vehicle
Journal of Intelligent and Robotic Systems
Single-Camera multi-baseline stereo using fish-eye lens and mirrors
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
A computer vision sensor for panoramic depth perception
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
Hypercatadioptric line images for 3D orientation and image rectification
Robotics and Autonomous Systems
A Geometric Algebra Model for the Image Formation Process of Paracatadioptric Cameras
Journal of Mathematical Imaging and Vision
A Fisher-Rao Metric for Paracatadioptric Images of Lines
International Journal of Computer Vision
3D model based tracking for omnidirectional vision: A new spherical approach
Robotics and Autonomous Systems
An accurate and robust visual-compass algorithm for robot-mounted omnidirectional cameras
Robotics and Autonomous Systems
Multi-view structure-from-motion for hybrid camera scenarios
Image and Vision Computing
Short baseline line matching for central imaging systems
Pattern Recognition Letters
Adapted Approach for Omnidirectional Egomotion Estimation*
International Journal of Computer Vision and Image Processing
Complete generic camera calibration and modeling using spline surfaces
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
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
Photogeometric Direct Visual Tracking for Central Omnidirectional Cameras
Journal of Mathematical Imaging and Vision
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Omnidirectional vision systems can provide panoramic alertness in surveillance, improve navigational capabilities, and produce panoramic images for multimedia. Catadioptric realizations of omnidirectional vision combine reflective surfaces and lenses. A particular class of them, the central panoramic systems, preserve the uniqueness of the projection viewpoint. In fact, every central projection system including the well known perspective projection on a plane falls into this category. In this paper, we provide a unifying theory for all central catadioptric systems. We show that all of them are isomorphic to projective mappings from the sphere to a plane with a projection center on the perpendicular to the plane. Subcases are the stereographic projection equivalent to parabolic projection and the central planar projection equivalent to every conventional camera. We define a duality among projections of points and lines as well as among different mappings. This unification is novel and has a significant impact on the 3D interpretation of images. We present new invariances inherent in parabolic projections and a unifying calibration scheme from one view. We describe the implied advantages of catadioptric systems and explain why images arising in central catadioptric systems contain more information than images from conventional cameras. One example is that intrinsic calibration from a single view is possible for parabolic catadioptric systems given only three lines. Another example is metric rectification using only affine information about the scene.