@InProceedings{Havlena-CVWW-2007,
  IS = { zkontrolovano 14 Dec 2007 },
  UPDATE  = { 2007-10-08 },
  author =      {Havlena, Michal and Cornelis, Kurt and Pajdla, Tom{\' a}{\v s}},
  title =       {Towards City Modeling from Omnidirectional Video},
  year =        {2007},
  pages =       {123-130},
  booktitle =   {CVWW 2007: Proceedings of the 12th Computer Vision Winter Workshop},
  editor =      {Michael Grabner and Helmut Grabner},
  publisher =   {Verlag der Technischen Universit{\"a}t Graz},
  address =     {Graz, Austria},
  isbn =        {978-3-902465-60-3},
  book_pages =  {146},
  month =       {February},
  day =         {6-8},
  venue =       {St. Lambrecht, Austria},
  organization ={Institute for Computer Graphics and Vision, 
                 Graz University of Technology, Graz, Austria},
  annote = {This paper describes a step towards a 3D reconstruction
    system for city modeling from omnidirectional video sequences. We
    show how to adapt the tracking and reconstruction paradigm used
    for perspective images to omnidirectional images taken by lenses
    with 180 degrees field of view. The main modifications are as
    follows. First, an omnidirectional lens model and calibration are
    used to obtain calibrated central cameras. Secondly, the scene
    reconstruction and camera tracking is based on establishing
    3D-to-2D matches by solving the minimal problem for non-central
    cameras using RANSAC. We demonstrate in experiments that the
    approach is feasible and that it promises to provide a working
    system when fully integrated. Open questions related to the
    stability of the reconstruction which need to be solved are
    discussed.},
  keywords =    {Structure from Motion, City Modeling, Omnidirectional Vision},
  project =     {FP6-IST-027787 DIRAC, GACR 201/07/1136},
  psurl =       {[Havlena-CVWW-2007.pdf]},
}