Extraction of Straight Lines in Aerial Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pattern Recognition Letters
A real-time panoramic stereo imaging system and its applications
Panoramic vision
Catadioptric Projective Geometry
International Journal of Computer Vision
Hough transform for feature detection in panoramic images
Pattern Recognition Letters
Omniview Cameras with Curved Surface Mirrors
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
A Complete Panoramic Vision System, Incorporating Imaging, Ranging, and Three Dimensional Navigation
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Approximating a Single Viewpoint in Panoramic Imaging Devices
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Segmentation, Tracking and Interpretation Using Panoramic Video
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Real-Time Target Localization and Tracking by N-Ocular Stereo
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Construction of an Immersive Mixed Environment Using an Omnidirectional Stereo Image Sensor
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
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Multidirectional Stereovision Sensor, Calibration and Scenes Reconstruction
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
3D Estimation using Panoramic Stereo
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Multiperspective modeling, rendering, and imaging
ACM SIGGRAPH ASIA 2008 courses
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Omni-directional sensors are useful in obtaining a 360° field of view with a single lens camera. Omni-directional stereo imaging systems can be constructed using a single camera and a mirror consisting of two concentric, radially symmetric lobes. If the central camera-mirror axis is vertical, a stereo image containing imagery from all azimuth directions from two viewpoints can be captured within one image. A vertically oriented catadioptric optical system that employs a mirror with a radial profile other than parabolic or hyperbolic cannot maintain the straightness of non-vertical lines. However, non-parabolic or hyperbolic mirror profiles are desirable for resolution distribution, sensor size, and cost. These mirror shapes, including spherical mirrors, are said to be non-central or non-single view-point (SVP); without a virtual perspective point, they pose new feature extraction challenges. The projection of straight lines in the world do not map to straight lines on the pixel array for non-SVP panoramic images, nor in the general case map to any conventional conic. A method for processing the imagery from a panoramic non-SVP catadioptric stereo sensor to reconstruct a 3D model of polyhedral objects with horizontal and vertical line edges is introduced. Horizontal line segments are extracted using the Panoramic Hough Transform and vertical line segments are recognized as straight radial lines. These segments, and closed shapes they form, are matched between the two lobe views to estimate position in three-dimensions. A novel Hough transform technique is described, and practical considerations for its successful use are explored. Four general weaknesses with Hough transform techniques in general are identified, and solutions to address them in each case are given. Details of a complete system using the Panoramic Hough Transform are given to demonstrate where this transform must be supplemented with other methods for robust operation. Issuses of reconstruction accuracy are addressed, and experimental results with synthetic and real images are presented.