Single Lens Stereo with a Plenoptic Camera
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
International Journal of Computer Vision - Special issue on image-based servoing
Robot Vision
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We examine the influence of camera design on the estimation of the motion and structure of a scene from video data. Every camera captures a subset of the light rays passing though some volume in space. By relating the differential structure of the time varying space of light rays to different known and new camera designs, we can establish a hierarchy of cameras. This hierarchy is based upon the stability and complexity of the computations necessary to estimate structure and motion. At the low end of this hierarchy is the standard planar pinhole camera for which the structure from motion problem is non-linear and ill-posed. At the high end is a camera, which we call the full field of view polydioptric camera, for which the problem is linear and stable. We develop design suggestions for the polydioptric camera, and based upon this new design we propose a linear algorithm for structure-from-motion estimation, which combines differential motion estimation with differential stereo.