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Extending Shape-from-Motion to Noncentral Omnidirectional Cameras (2001)
| Venue: | In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Wailea |
| Citations: | 10 - 4 self |
BibTeX
@INPROCEEDINGS{Strelow01extendingshape-from-motion,
author = {Dennis Strelow and Jeff Mishler and Sanjiv Singh and Herman Herman},
title = {Extending Shape-from-Motion to Noncentral Omnidirectional Cameras},
booktitle = {In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Wailea},
year = {2001},
pages = {2086--2092}
}
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Abstract
Algorithms for shape-from-motion simultaneously estimate camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general and handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shapefrom -motion with this design produces highly accurate motion esimates.
Keyphrases
noncentral omnidirectional camera omnidirectional camera precise calibration technique estimate camera motion shape-from-motion algorithm omnidirectional camera geometry single center noncentral camera camera-mirror combination accurate motion esimates wide field scene structure wide variety calibration method shapefrom motion robust motion estimate online shape-from-motion algorithm
