In proceedings IEEE Conference on Intelligent Vehicles, Stuttgart, Germany.
Tomas Svoboda , Tomas Pajdla and Vaclav Hlavac
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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.
Keywords:
omnidirectional vision, epipolar geometry, panoramic
cameras, hyperbolic mirror, stereo, catadioptric sensors.