Mixing Catadioptric and Perspective Cameras.
Peter Sturm (INRIA Rhône-Alpes, France)`
We analyze relations that exist between multiple views of a static
scene, where the views can be taken by any mixture of para-catadioptric,
perspective or affine cameras. Concretely, we introduce the notion of
fundamental matrix, trifocal and quadrifocal tensors for the different
possible combinations of these camera types. We also introduce the
notion of plane homography for mixed image pairs. Generally speaking,
these novel multi-view relations may form the basis for the typical
geometric computations like motion estimation, 3D reconstruction or
(self-) calibration. A few novel algorithms illustrating some of these
aspects, are described, especially concerning what we call calibration
transfer, using fundamental matrices, and self-calibration from plane
homographies.