@InProceedings{Micusik-CTUWorkshop04,
  IS = { zkontrolovano 13 Jan 2005 },
  UPDATE  = { 2004-03-31 },
  author =       {Mi{\v c}u{\v s}{\'\i}k, Branislav and 
                  Pajdla, Tom{\' a}{\v s}},
  title =        {Scene Reconstruction from Omnidirectional Cameras},
  pages =        {218--219},
  booktitle =    {Proceedings of Workshop 2004},
  editor =       {{\v R}{\' \i}ha, Bohuslav},
  book_pages =   {1142},
  isbn =         {80-01-02945-X},
  publisher =    {{\v C}VUT},
  organization = {Czech Technical University in Prague},
  address =      {Prague, Czech republic},
  venue =        {Prague, Czech republic},
  year =         {2004},
  month =        {March},
  day =          {22--26},
  project =      {CTU 0306813, GACR 102/01/0971, 
                  MSMT Kontakt 22-2003-04, BeNoGo IST-2001-39184},
  autorship =    {50-50},
  psurl =        {full text (PDF),
a4-poster (PDF)},
  keywords =     {omnidirectional camera, 3D reconstruction, 
                  auto-calibration },
  annote = {We show that a very complete 3D metric reconstruction of
    the surrounding scene from two or more uncalibrated
    omnidirectional images can be obtained. We show that 3D metric
    reconstruction of the surrounding scene from two or more
    uncalibrated omnidirectional images can be performed very
    similarly as with standard perspective cameras. First, the
    omnidirectional camera is calibrated using image correspondences
    and epipolar constraint.  Secondly, a projective
    factorization-based reconstruction from many images handling
    occlusions is used. Finally, an upgrade to a metric reconstruction
    is performed. The proposed linear estimation techniques give a
    good starting point for a non-linear bundle adjustment enforcing
    metric constraints on the reconstruction and including lens
    nonlinearity.  We demonstrate our method in experiments with Nikon
    FC--E8, Sigma 8mm-f4-EX fish-eye lenses and non-cetral
    catadioptric cameras with a spherical, hyperbolic and parabolic
    mirror. Nevertheless, the proposed method can be used for a large
    class of non-perspective omnidirectional cameras.},
}