Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Robust Egomotion Estimation From the Normal Flow Using Search Subspaces
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Comparison of Approaches to Egomotion Computation
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Equivalence of Catadioptric Projections and Mappings of the Sphere
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Large Motion Estimation for Omnidirectional Vision
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Omni-Directional Vision for Robot Navigation
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Real-time obstacle avoidance using central flow divergence and peripheral flow
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
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
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Motion analysis of Omni-Directional video streams for a mobile sentry
IWVS '03 First ACM SIGMM international workshop on Video surveillance
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
Wide-angle Visual Feature Matching for Outdoor Localization
International Journal of Robotics Research
Adapted Approach for Omnidirectional Egomotion Estimation*
International Journal of Computer Vision and Image Processing
A Survey of Optical Flow Techniques for Robotics Navigation Applications
Journal of Intelligent and Robotic Systems
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Computing a camera's ego-motion from an image sequence is easierto accomplish when a spherical retina is used, as opposed to astandard retinal plane. On a spherical field of view both thefocus of expansion and contraction are visible, whereas for aplanar retina that is not necessarily the case.Recent research has shown that omnidirectional systems can be used toemulate spherical retinas by mapping image velocity vectors from theomnidirectional image to the spherical retina. That has been done by usingthe Jacobian of the transformation between the image formation model andthe spherical coordinate system. As a consequence, the Jacobian matrixmust be derived for each specific omnidirectional camera, to account forthe different mirror shapes.Instead, in this paper we derive the Jacobian matrix using of a generalprojection model, that can describe all single projection center camerasby suitable parameterization. Hence, both the back-projection of an imagepoint to the unit sphere, as well as the mapping of velocities through thetransformation Jacobian remains general for all cameras with a singlecenter of projection.We have conducted a series of experimental tests to illustrate thevalidity of our approach which lead to encouraging results.