Planar catadioptric stereo vision sensors (PCS) combine a pinhole camera with two or more planar mirrors. PCS have recently received an increasing attention since a stereo view can be easily obtained without the need of exact multi-camera synchronization and calibration. In this paper we present a rigorous analytical treatment of the imaging geometry of PCS, propose new mirror calibration algorithms and introduce new multi-view properties that can be used for eye-in-hand camera localization. The effectiveness of the algorithms is shown via extensive simulation and real-data experiments on a robotic manipulator.

Mariottini, G.L., Scheggi, S., Morbidi, F., & Prattichizzo, D. (2009). Planar catadioptric stereo: single and multi-view geometry for calibration and localization. In Proceedings IEEE Int. Conf. on Robotics and Automation, ICRA'09 (pp.1510-1515). New York : IEEE [10.1109/ROBOT.2009.5152609].

Planar catadioptric stereo: single and multi-view geometry for calibration and localization

Mariottini, G. L.;Scheggi,S.;Morbidi, F.;Prattichizzo, D.
2009

Abstract

Planar catadioptric stereo vision sensors (PCS) combine a pinhole camera with two or more planar mirrors. PCS have recently received an increasing attention since a stereo view can be easily obtained without the need of exact multi-camera synchronization and calibration. In this paper we present a rigorous analytical treatment of the imaging geometry of PCS, propose new mirror calibration algorithms and introduce new multi-view properties that can be used for eye-in-hand camera localization. The effectiveness of the algorithms is shown via extensive simulation and real-data experiments on a robotic manipulator.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/32353