Omnidirectional Vision

Tomas Svoboda, Tomas Pajdla, and Vaclav Hlavac Center for Machine Perception, CTU FEE, Karlovo nam. 13, Praha, Czech Republic, http://cmp.felk.cvut.cz svoboda@cmp.felk.cvut.cz

Photos of our sensors. Sensor with a hyperbolic mirror. A system with a spherical mirror mounted on a mobile robot.	Central Panoramic Cameras. Introduction, motivation, drawings, etc... Presentation [PDF] of the topic.
Experiments. Epipolar geometry for the system perspective camera - hyperbolic mirror.	Imaging. Virtual camera using hyperbolic mirror.
Spherical mirror. Reprojection onto cylindrical surface is presented. The reprojection onto plane, simulating perspective projection, is shown as well.	Images captured using spherical mirror. A paper with text, line and scale is used to show sensor properties.

References

• T. Svoboda, T. Pajdla, Epipolar Geometry for Central Catadioptric Cameras. International Journal of Computer Vision, 49(1):23-37, August 2002. [PDF]
• 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.
• Tomas Svoboda. PhD Thesis: Central Panoramic Cameras, Design, Geometry, Egomotion. Center for Machine Perception, Czech Technical University.
• Tomas Svoboda, Tomas Pajdla and Vaclav Hlavac. Motion Estimation Using Central Panoramic Cameras. In IEEE Conference on Intelligent Vehicles, Stuttgart, Germany, October 1998.
• Tomas Svoboda, Tomas Pajdla and Vaclav Hlavac. Epipolar Geometry for Panoramic Cameras. In 5th European Conference on Computer Vision, Freiburg, Germany, June 1998.