Due to their panoramic field of view, catadioptric cameras are becoming ubiquitous in many robotics and computer vision applications. Catadioptric cameras with a unique viewpoint are of primary interest, among these is the case where the reflective surface is a parabolic mirror and the camera satisfies the orthographic projection model and which we call paracatadioptric. We here present a new geometrical property (called disparity-circles property) for paracatadioptric cameras and use it to design a video compass algorithm that can compute the 1-axis rotation angle between two views of at least two parallel lines, without any need of internal camera calibration parameters. We present a linear closed form solution suitable for real-time implementation. We then study the performances of our algorithm, its sensitivity to image noise and propose also experimental results with a paracatadioptric camera mounted on a mobile robotic platform.

Mariottini, G.L., & Prattichizzo, D. (2007). Uncalibrated video compass for mobile robots from paracatadioptric line images. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp.226-231). New York : IEEE [10.1109/IROS.2007.4399471].

Uncalibrated video compass for mobile robots from paracatadioptric line images

Mariottini, G. L.;Prattichizzo, D.
2007

Abstract

Due to their panoramic field of view, catadioptric cameras are becoming ubiquitous in many robotics and computer vision applications. Catadioptric cameras with a unique viewpoint are of primary interest, among these is the case where the reflective surface is a parabolic mirror and the camera satisfies the orthographic projection model and which we call paracatadioptric. We here present a new geometrical property (called disparity-circles property) for paracatadioptric cameras and use it to design a video compass algorithm that can compute the 1-axis rotation angle between two views of at least two parallel lines, without any need of internal camera calibration parameters. We present a linear closed form solution suitable for real-time implementation. We then study the performances of our algorithm, its sensitivity to image noise and propose also experimental results with a paracatadioptric camera mounted on a mobile robotic platform.
9781424409129
978-1-4244-0911-2
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/33218