In proceedings Fifth European Conference on Computer Vision, Freigurg, Germany.Tomas Svoboda , Tomas Pajdla and Vaclav Hlavac
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This paper presents fundamental theory and design of central
panoramic cameras. Panoramic cameras combine a convex
or parabolic mirror with a perspective camera to obtain a large
field of view. We show how to design a panoramic camera with a
tractable geometry and we propose a simple calibration method. We
derive the image formation function for such a camera. The main
contribution of the paper is the derivation of the epipolar geometry
between a pair of panoramic cameras. We show that the mathematical
model of a central panoramic camera can be decomposed into two
central projections and therefore allows an epipolar geometry
formulation. It is shown that epipolar curves are conics and their
equations are derived. The theory is tested in experiments with real data.
omnidirectional vision, epipolar geometry, panoramic cameras, hyperbolic mirror, stereo, catadioptric sensors.