Image Registration for Foveated Omnidirectional Sensing
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Deformable registration for generating dissection image of an intestine from annular image sequence
CVBIA'05 Proceedings of the First international conference on Computer Vision for Biomedical Image Applications
Image registration for foveated panoramic sensing
ACM Transactions on Multimedia Computing, Communications, and Applications (TOMCCAP)
An FPGA-based omnidirectional vision sensor for motion detection on mobile robots
International Journal of Reconfigurable Computing - Special issue on Selected Papers from the Symposium on Integrated Circuits and Systems Design (SBCCI 2011)
Visual Target Localization with the Spincopter
Journal of Intelligent and Robotic Systems
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Surround perception is crucial for an immersive sense of presence in communication and for efficient navigation and surveillance in robotics. To enable surround perception, new omnidirectional systems were designed, which gave a new impetus for rethinking the way images, are acquired and analyzed. Based on insights gained from such designs, we formulate a novel unifying theory of imaging. We prove that all single viewpoint mirror-lens devices are equivalent to projective mappings from the sphere to the plane. These mappings are paired with a duality principle, which relates points to line projections. The commonly used parabolic mirror projection is shown to be equivalent to the stereographic projection, providing therefore the invariants of a conformal mapping. It turns out that conventional cam-eras, which are only a special case in our theory, provide the barest minimum of information about the environment. We review current approaches to omnidirectional imaging and present a framework for calibration of omnidirectional cameras from single views.