CI-graph: an efficient approach for large scale SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
View planning for cityscape archiving and visualization
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
Optimal estimation and detection in homogeneous spaces
IEEE Transactions on Signal Processing
3D modelling of static environments using multiple spherical stereo
ECCV'10 Proceedings of the 11th European conference on Trends and Topics in Computer Vision - Volume Part II
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This paper proposes a method of realizing a full-view spherical image camera, called spherical camera, and gives its calibration method. The spherical camera can acquire a full-view spherical image by one capture of a single camera. The spherical field of view is divided into two hemispherical ones. Each hemispherical field of view is imaged by a fisheye lens, respectively. The both of hemispherical views are fused by a mirror so as to acquire them on a single image plane. As for the calibration of this spherical camera, we let the spherical camera observe the inside of a calibration box so that the control points for calibration can cover the whole view of each fisheye lens, and calibrate it based upon a spherical camera model. We developed the prototype of the spherical image camera and an application of monitoring the whole surrounding environment of vehicle by the spherical camera is also given.