Ambiguity in Structure from Motion: Sphere versus Plane
International Journal of Computer Vision
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Nonmetric Calibration of Wide-Angle Lenses and Polycameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Paracatadioptric Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
The Quadratic Eigenvalue Problem
SIAM Review
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
VideoPlus: A Method for Capturing the Structure and Appearance of Immersive Environments
IEEE Transactions on Visualization and Computer Graphics
Exact Two-Image Structure from Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Approximating a Single Viewpoint in Panoramic Imaging Devices
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Mixing Catadioptric and Perspective Cameras
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Panoramic Mosaicing with a 180° Field of View Lens
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Ego-Motion and Omnidirectional Cameras
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Mirrors in motion: Epipolar geometry and motion estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
The Radial Trifocal Tensor: A Tool for Calibrating the Radial Distortion of Wide-Angle Cameras
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Omnidirectional camera model and epipolar geometry estimation by RANSAC with bucketing
SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
Estimation of omnidirectional camera model from epipolar geometry
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Instantaneous robot self-localization and motion estimation with omnidirectional vision
Robotics and Autonomous Systems
Automatic scene structure and camera motion using a catadioptric system
Computer Vision and Image Understanding
The DIRAC AWEAR audio-visual platform for detection of unexpected and incongruent events
ICMI '08 Proceedings of the 10th international conference on Multimodal interfaces
International Journal of Robotics Research
Omnidirectional Image Stabilization by Computing Camera Trajectory
PSIVT '09 Proceedings of the 3rd Pacific Rim Symposium on Advances in Image and Video Technology
Application of Kohonen network for automatic point correspondence in 2D medical images
Computers in Biology and Medicine
A Simple Method of Radial Distortion Correction with Centre of Distortion Estimation
Journal of Mathematical Imaging and Vision
Efficient generic calibration method for general cameras with single centre of projection
Computer Vision and Image Understanding
Fast and robust numerical solutions to minimal problems for cameras with radial distortion
Computer Vision and Image Understanding
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Horizon matching for localizing unordered panoramic images
Computer Vision and Image Understanding
Visual tracking of planes with an uncalibrated central catadioptric camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An analysis-by-synthesis camera tracking approach based on free-form surfaces
Proceedings of the 29th DAGM conference on Pattern recognition
A nonparametric learning approach to range sensing from omnidirectional vision
Robotics and Autonomous Systems
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Closing the loop in appearance-guided omnidirectional visual odometry by using vocabulary trees
Robotics and Autonomous Systems
A method for calibrating the parabolic camera using homographic matrix
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Multimodal genetic algorithms-based algorithm for automatic point correspondence
Pattern Recognition
A neuromorphic smart camera for real-time 360°distortion-free panoramas
Proceedings of the Fourth ACM/IEEE International Conference on Distributed Smart Cameras
Efficient structure from motion by graph optimization
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Analytical forward projection for axial non-central dioptric and catadioptric cameras
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Omnidirectional Image Stabilization for Visual Object Recognition
International Journal of Computer Vision
International Journal of Computer Vision
Calibration of omnidirectional cameras in practice: A comparison of methods
Computer Vision and Image Understanding
Dense 3D point cloud generation from multiple high-resolution spherical images
VAST'11 Proceedings of the 12th International conference on Virtual Reality, Archaeology and Cultural Heritage
Hand-Eye calibration without hand orientation measurement using minimal solution
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Fisheye camera modeling for human segmentation refinement in indoor videos
Proceedings of the 6th International Conference on PErvasive Technologies Related to Assistive Environments
Hi-index | 0.14 |
This paper presents a method for fully automatic and robust estimation of two-view geometry, autocalibration, and 3D metric reconstruction from point correspondences in images taken by cameras with wide circular field of view. We focus on cameras which have more than 180^\circ field of view and for which the standard perspective camera model is not sufficient, e.g., the cameras equipped with circular fish-eye lenses Nikon FC-E8 (183^\circ), Sigma 8mm-f4-EX (180^\circ), or with curved conical mirrors. We assume a circular field of view and axially symmetric image projection to autocalibrate the cameras. Many wide field of view cameras can still be modeled by the central projection followed by a nonlinear image mapping. Examples are the above-mentioned fish-eye lenses and properly assembled catadioptric cameras with conical mirrors. We show that epipolar geometry of these cameras can be estimated from a small number of correspondences by solving a polynomial eigenvalue problem. This allows the use of efficient RANSAC robust estimation to find the image projection model, the epipolar geometry, and the selection of true point correspondences from tentative correspondences contaminated by mismatches. Real catadioptric cameras are often slightly noncentral. We show that the proposed autocalibration with approximate central models is usually good enough to get correct point correspondences which can be used with accurate noncentral models in a bundle adjustment to obtain accurate 3D scene reconstruction. Noncentral camera models are dealt with and results are shown for catadioptric cameras with parabolic and spherical mirrors.