Motion Estimation using Central Panoramic Cameras

In proceedings IEEE Conference on Intelligent Vehicles, Stuttgart, Germany.

Tomas Svoboda , Tomas Pajdla and Vaclav Hlavac

The whole PostScript file compressed by gzip.

Demos, images, ...

Abstract: This paper addresses the motion estimation from an image sequence taken by a panoramic camera mounted on a mobile robot. We expose how to design panoramic camera with tractable geometry. We combine a perspective camera with a hyperbolic mirror. We show that such camera allow motion estimation in the same way as perspective cameras do. Experiments demonstrate that a motion estimation is better using panoramic camera than perspective camera. We present experiments with a real sensor.
omnidirectional vision, epipolar geometry, panoramic cameras, hyperbolic mirror, stereo, catadioptric sensors.