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.
2009-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/32353