Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Scalable Extrinsic Calibration of Omni-Directional Image Networks
International Journal of Computer Vision
Properties of the Catadioptric Fundamental Matrix
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Geometric Properties of Central Catadioptric Line Images
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Estimating Head Pose from Spherical Image for VR Environment
PCM '02 Proceedings of the Third IEEE Pacific Rim Conference on Multimedia: Advances in Multimedia Information Processing
New Eyes for Shape and Motion Estimation
BMVC '00 Proceedings of the First IEEE International Workshop on Biologically Motivated Computer Vision
Eyes from Eyes: New Cameras for Structure from Motion
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Omnidirectional Imaging and Optical Flow
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
A General Approach for Egomotion Estimation with Omnidirectional Images
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Rolling and swaying motion estimation for a mobile robot by using omnidirectional optical flows
Machine Vision and Applications - Special issue: Omnidirectional vision and its applications
International Journal of Computer Vision
Head movement estimation for wearable eye tracker
Proceedings of the 2004 symposium on Eye tracking research & applications
Real-Time Omnidirectional Image Sensors
International Journal of Computer Vision - Special Issue on Omni-Directional Research in Japan
Motion analysis of Omni-Directional video streams for a mobile sentry
IWVS '03 First ACM SIGMM international workshop on Video surveillance
Structure from Motion with Wide Circular Field of View Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
An optical navigation sensor for micro aerial vehicles
Computer Vision and Image Understanding
Wearable imaging system for capturing omnidirectional movies from a first-person perspective
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Wide-angle Visual Feature Matching for Outdoor Localization
International Journal of Robotics Research
Degeneracy of the Linear Seventeen-Point Algorithm for Generalized Essential Matrix
Journal of Mathematical Imaging and Vision
A Catadioptric and Pan-Tilt-Zoom Camera Pair Object Tracking System for UAVs
Journal of Intelligent and Robotic Systems
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
A Variational Framework for Structure from Motion in Omnidirectional Image Sequences
Journal of Mathematical Imaging and Vision
Planar Motion Estimation and Linear Ground Plane Rectification using an Uncalibrated Generic Camera
International Journal of Computer Vision
Optical flow estimation on omnidirectional images: an adapted phase based method
ICISP'12 Proceedings of the 5th international conference on Image and Signal Processing
Tracking feature points in uncalibrated images with radial distortion
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
Adapted Approach for Omnidirectional Egomotion Estimation*
International Journal of Computer Vision and Image Processing
Surround-see: enabling peripheral vision on smartphones during active use
Proceedings of the 26th annual ACM symposium on User interface software and technology
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Recent research in image sensors has produced cameras with very large fields of view. An area of computer vision research which will benefit from this technology is the computation of camera motion (ego-motion) from a sequence of images. Traditional cameras suffer from the problem that the direction of translation may lie outside of the field of view, making the computation of camera motion sensitive to noise. In this paper, we present a method for the recovery of ego-motion using omnidirectional cameras. Noting the relationship between spherical projection and wide-angle imaging devices, we propose mapping the image velocity vectors to a sphere, using the Jacobian of the transformation between the projection model of the camera and spherical projection. Once the velocity vectors are mapped to a sphere, we show how existing ego-motion algorithms can be applied and present some experimental results. These results demonstrate the ability to compute ego-motion with omnidirectional cameras.