@PhDThesis{Bakstein-TR-2006-09,
IS = { zkontrolovano 18 Jan 2008 },
UPDATE =       { 2006-10-31 },
author =       {Bakstein, Hynek},
supervisor =   {Hlav{\'a}{\v c}, V{\' a}clav},
title =        {Non-central Cameras for {3D} Reconstruction},
school =       {Center for Machine Perception, K13133 FEE Czech Technical
University},
year =         {2006},
month =        {March},
day =          {22},
type =         {{PhD Thesis CTU--CMP--2006--09}},
issn =         {1213-2365},
pages =        {114},
figures =      {87},
authorship =   {100},
psurl =        {[Bakstein-TR-2006-09.pdf]},
project =      {GACR 102/01/0971, IST-1999-29017,
MSMT KONTAKT 2001/09, MSMT 212300013,
EIST-2001-39184, Dur IG2003-2 062, MSM6840770013},
annote = {In this thesis, we study one example of a non-central
mosaic camera, the $360\times360$ mosaic camera, where an
omnidirectional camera moves on a circular path. We focus on
geometry of this camera and we show that we can consider different
levels of complexity of the model. The simplest model has only a
single parameter and a 3D reconstruction in an uncalibrated case
results in a similarity reconstruction of the scene. However, more
complex model has to be used in many practical situations. We
present a bundle adjustment procedure for recovery of its
parameters. The thesis then describes a practical realization of
the $360\times350$ mosaic camera employing a fish eye lens instead
of a mirror, as it was previously suggested by Nayar in 2000. We
overview calibration methods for fish eye lenses and propose a
novel approach based on theoretical projection functions. We show
experimentally, that this approach provides higher robustness with
sufficient precision compared to traditional polynomial fitting
methods and the division model. In the final chapter of this
thesis, we introduce the concept of an omnidirectional image-based
rendering (IBR) with X-slits geometry. We extend the concept of
image volumes to omnidirectional image volumes and we show that
depth information obtained by the model of the $360\times360$
mosaic camera can be used to reduce the number of images in the
volume while maintaining high visual fidelity of the IBR
images. To conclude with some practical application, we
demonstrate that X-slits IBR can be used in image-based robot
localization.},
keywords =     {non-central cameras, omnidirectional vision, fish eye,
calibration, image-based rendering},
}