NDLI: A generic fisheye camera model for robotic applications

Content Provider	IEEE Xplore Digital Library
Author	Courbon, J. Mezouar, Y. Eck, L. Martinet, P.
Copyright Year	2007
Description	Author affiliation: LASMEA, Aubiere (Courbon, J.; Mezouar, Y.)
Abstract	Omnidirectional cameras have a wide field of view and are thus used in many robotic vision tasks. An omnidirectional view may be acquired by a fisheye camera which provides a full image compared to catadioptric visual sensors and do not increase the size and the weakness of the imaging system with respect to perspective cameras. We prove that the unified model for catadioptric systems can model fisheye cameras with distortions directly included in its parameters. This unified projection model consists on a projection onto a virtual unitary sphere, followed by a perspective projection onto an image plane. The validity of this assumption is discussed and compared with other existing models. Calibration and partial Euclidean reconstruction results help to confirm the validity of our approach. Finally, an application to the visual servoing of a mobile robot is presented and experimented.
Starting Page	1683
Ending Page	1688
File Size	350709
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399233
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Image sensors Intelligent robots Robot sensing systems Sensor systems Lenses Smart cameras Intelligent sensors Visual servoing Mirrors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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