OMVI - "Omnidirectional Vision

c OMVI - "Omnidirectional Vision - GACR 102/01/0971"

O M V I - "Omnidirectional Vision"

Project GACR 102/01/0971, 2001 - 2003

The Center for Machine Perception
Department of Cybernetics
Faculty of Electrical Engineering
Czech Technical University, Prague
Karlovo namesti 13, 121 35 Praha 2, Czech Republic

Contact person:

Tomas Pajdla
pajdla@cmp.felk.cvut.cz
http://cmp.felk.cvut.cz/
Tel.: +420-2-24357348
Fax:+420-2-24357385

Hand With Reflecting Sphere by M.C. Escher

Objective

The project aims at developing the theory of omnidirectional vision allowing to use omnidirectional images to model 3D scene geometry and appearance and to represent the position of an observer in the scene. The main goal of the project is to develop and verify (i) mathematical models of omnidirectional cameras, (ii) methods for constructing efficient scene representations using omnidirectional images, and (iii) algorithms of observer localization in the scene.

Proposal of the project

Year Reports

YR 2001

Background

T.Svoboda, T.Pajdla, and V.Hlavac. Motion estimation using central panoramic cameras. IEEE International Conference on Intelligent Vehicles, pages 335-340, Stuttgart, Germany, October 1998. Causal Productions.
T.Pajdla, V.Hlavac. Zero phase representation of panoramic images for image based localization. In 8-th International Conference on Computer Analysis of Images and Patterns, number 1689 in Lecture Notes in Computer Scinence, pages 550-557, Trzaska 25, Ljubljana, Slovenia, September 1999. Springer Verlag.
T.Pajdla, T.Svoboda, and V.Hlavac. Epipolar geometry of central panoramic catadioptric cameras. In Ryad Benosman and Sing Bing Kang, editors, Panoramic Vision : Sensors, Theory, and Applications. Springer Verlag, Berlin, Germany, 1 edition, 2000.
T.Pajdla. Non-classical ray cameras. Research Report CTU-CMP-1999-11, Center for Machine Perception, Czech Technical University, Prague, Czech Republic, November 1999.
F.Huang, T.Pajdla. Epipolar geometry in concentric panoramas. Research Report CTU-CMP-2000-07, Center for Machine Perception, Czech Technical University, Prague, Czech Republic, March 2000.
S.K. Wei, M.Urban, and T.Pajdla. Stereo matching of catadioptric panoramic images. Research Report CTU-CMP-2000-08, Center for Machine Perception, Czech Technical University, Prague, Czech Republic, March 2000.

Publications

2001

H.Bakstein, T.Pajdla. An overview of non-central cameras . In Proceedings of Computer Vision Winter Workshop, pages 223-233, Ljubljana, Slovenian Pattern Recorgnition Society, Slovenia, February 2001.
T.Pajdla. Epipolar geometry of some non-classical cameras. In Proceedings of Computer Vision Winter Workshop, pages 223-233, Ljubljana, Slovenian Pattern Recorgnition Society, Slovenia, February 2001.
T.Werner, T.Pajdla. On existence of strong realization of two central panoramic images. In Proceedings of Computer Vision Winter Workshop, Ljubljana, Slovenian Pattern Recorgnition Society, Slovenia, February 2001.
T.Pajdla. Characterization of epipolar geometries of non-classical cameras. Research Report CTU-CMP-2001-05, Center for Machine Perception, K333 FEE, Czech Technical University, Prague, Czech Republic, February 2001.
T.Pajdla. Rotational hyperboloids as a class of oblique cameras with double ruled quadric visibility closures. Research Report CTU-CMP-2001-10, Center for Machine Perception, K333 FEE, Czech Technical University, Prague, Czech Republic, March 2001.
T.Pajdla., V.Hlavac. Image-based self-localization by means of zero phase representation in panoramic images. In Proceedings of the 2nd International Conference on Advanced Pattern Recognition, volume 2013 of Lecture Notes in Computer Science, pages 24-33, Heidelberg, Germany, March 2001. IAPR, Springer-Verlag.
T.Pajdla. Oblique Cameras Generated by Collineations. Research Report CTU-CMP-2001-14, Center for Machine Perception, K333 FEE, Czech Technical University, Prague, Czech Republic, April 2001.
T.Werner, T.Pajdla. Cheirality in epipolar geometry. In Proc. Eight Intl. Conf. Computer Vision. IEEE Computer Society Press, July 2001.(poster)
T.Svoboda, T.Pajdla. Matching in Catadioptric Images with Appropriate Windows and Outliers Removal. Proc. of the 9th International Conference on Computer Analysis of Images and Patterns. Springer Verlag. Warsaw, Poland, 5--7 September, 2001.
T.Werner, T.Pajdla. Oriented matching constraints. In Proc. of the 12th British Machine Vision Conference. British Machine Vision Association, 10-13 September 2001. poster, a photo from the poster session
H. Bakstein and T. Pajdla. 3D Reconstruction from 360 x 360 mosaics. Proceedings of the CVPR'2001 conference, Hawaii, USA. December 2001. To appear.
T.Pajdla. Stereo with Oblique Cameras. Research Report CTU-CMP-2001-32, Center for Machine Perception, K333 FEE, Czech Technical University, Prague, Czech Republic, October 2001.
T. Pajdla. Stereo with oblique cameras. IEEE Workshop on Stereo and Multi-Baseline Vision. IEEE Computer Society Press. pp 85--91, Hawaii. USA. December 2001. (slides, movie for slides)
2002
H.Bakstein and T. Pajdla. 360 x 360 mosaic with partially calibrated 1D omnidirectional camera. CVWW'02, pp. 267--275, PRIP, Wien, Austria, February 2002.
H.Bakstein and T. Pajdla. Calibration of a fish eye lens with field of view larger than 180 degrees. CVWW'02, PRIP Wien, Austria, February 2002.
O.Chum and T.Pajdla. Evaluating error of homography. In H. Wildenauer, editor, Proceedings of the CVWW'02, Wien, Austria, February 2002. PRIP.
T.Pajdla. Stereo with Oblique Cameras. International Journal of Computer Vision, 47(1-3), May, 2002.
T.Pajdla. Geometry of two-slit camera. Research Report CTU-CMP-2002-02, Center for Machine Perception, K333 FEE Czech Technical University, Prague, Czech Republic, March 2002.
H.Bakstein and T.Pajdla. Panoramic mosaicing with a 180 degree field of view lens. In A. D. Williams, editor, Proceedings of the IEEE Workshop on Omnidirectional Workshop, pages 60-67, Los Alamitos, CA, jun 2002. IEEE Press.
J.Sivic and T.Pajdla. Geometry of concentric multiperspective panoramas. Research Report CTU-CMP-2002-05, Center for Machine Perception, K333 FEE Czech Technical University, Prague, Czech Republic, February 2002. Based on J.Sivic's MSc. thesis.
T.Svoboda and T.Pajdla. Epipolar geometry for central catadioptric cameras. International Journal of Computer Vision, 49(1):23-37, August 2002.

Presentations and invited talks

T.Pajdla. Zero Phase Representation of Panoramic Images for Image Based Localization. The Intelligent Systems Laboratory, Technion, Israel Institute of Technology. November 16, 2000.
T.Pajdla. Stereo Geometries - a Generalization of Epipolar Geometry for Non-central Cameras. Computer Vision Group of the Communication Technology Laboratory. ETH -- Eidgenossiche Technische Hochschule, Zurich, Switzerland. April 19, 2001.
T.Pajdla. Stereo geometries of non-central cameras. Pattern Recognition and Computer Vision Colloquium, Czech Technical University, Prague, Czech Republic, May 10-11, 2001.
T.Pajdla. Image based Compass with Panoramic Images. Visual Geometry Group, Department of Engineering Science, Oxford University, Great Britain. July 18, 2001.

Dissemination, related projects

OMNIVIEWS - CMOS variant resolution catadioptric cameras, RTD - FET Project No: IST-1999-29017
ISAAC - Inspecting Sewage Systems And Image Analysis by Computer, Take-up Project No. IST-2001-33266
Neovision s.r.o. offers mirror manufacturing as well as complete panoramic cameras.

Team

Investigators:
Tomas Pajdla	pajdla@cmp.felk.cvut.cz	responsible investigator
Vaclav Hlavac	hlavac@cmp.felk.cvut.cz	perspectives, coordination, dissemination
Pavel Ptak	ptak@cmp.felk.cvut.cz	mathematical background
Vladimir Smutny	smutny@cmp.felk.cvut.cz	technology, applications
Tomas Svoboda	svoboda@vision.ee.ethz.ch	ego motion, matching (on the leave at ETH Zurich)

Support:
Eva Matyskova	matyskov@cmp.felk.cvut.cz	administration
Daniel Vecerka	vecerka@cmp.felk.cvut.cz	software maintanence, technical support
Contributors:
Hynek Bakstein	bakstein@cmp.felk.cvut.cz	models of omnidirectional cameras
Branislav Micusik	micusb1@cmp.felk.cvut.cz	localization, realizations
Josef Sivic	sivic@cmp.felk.cvut.cz	omnidirectional stereo
Tomas Werner	werner@robots.ox.ac.uk	ch(e)irality, ray orientation in multiview geometry