@Article{Micusik-Pajdla-PAMI-2006,
  IS = { zkontrolovano 29 Dec 2006 },
  UPDATE  = { 2006-12-13 },
  author =     {Mi{\v c}u{\v s}{\'\i}k, Branislav and Pajdla, Tom{\' a}{\v s}},
  title =      {Structure from Motion with Wide Circular Field of View Cameras},
  year =       {2006},
  month =      {July},
  pages =      {1135-1149},
  journal =    {IEEE Transactions on Pattern Analysis and Machine Intelligence},
  publisher =  {IEEE Computer Society},
  address =    {Los Alamitos, USA},
  issn =       {0162-8828},
  volume =     {28},
  number =     {7},
  authorship = {50-50},
  annote = {This paper presents a method for fully automatic and
    robust estimation of two-view geometry, autocalibration, and 3D
    metric reconstruction from point correspondences in images taken
    by cameras with wide circular field of view. We focus on cameras
    which have more than 180 deg. field of view and for which the
    standard perspective camera model is not sufficient, e.g., the
    cameras equipped with circular fish-eye lenses Nikon FC-E8
    (183 deg), Sigma 8mm-f4-EX (180 deg), or with curved conical
    mirrors. We assume a circular field of view and axially symmetric
    image projection to autocalibrate the cameras. Many wide field of
    view cameras can still be modeled by the central projection
    followed by a nonlinear image mapping. Examples are the
    above-mentioned fish-eye lenses and properly assembled
    catadioptric cameras with conical mirrors. We show that epipolar
    geometry of these cameras can be estimated from a small number of
    correspondences by solving a polynomial eigenvalue problem. This
    allows the use of efficient RANSAC robust estimation to find the
    image projection model, the epipolar geometry, and the selection
    of true point correspondences from tentative correspondences
    contaminated by mismatches. Real catadioptric cameras are often
    slightly noncentral. We show that the proposed autocalibration
    with approximate central models is usually good enough to get
    correct point correspondences which can be used with accurate
    noncentral models in a bundle adjustment to obtain accurate 3D
    scene reconstruction. Noncentral camera models are dealt with and
    results are shown for catadioptric cameras with parabolic and
    spherical mirrors.},
keywords = {Omnidirectional vision, fish-eye
    lens, catadioptric camera, autocalibration},
  project =    {DIRAC FP6-IST-027787},
  psurl       = {[Paper]},
}