NDLI: Omnidirectional vision: theory and algorithms

Content Provider	IEEE Xplore Digital Library
Author	Daniilidis, K. Geyer, C.
Copyright Year	2000
Description	Author affiliation: GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA (Daniilidis, K.)
Abstract	Surround perception is crucial for an immersive sense of presence in communication and for efficient navigation and surveillance in robotics. To enable surround perception, new omnidirectional systems were designed which gave a new impetus for rethinking the way images are acquired and analyzed. Based on insights gained from such designs, we formulate a novel unifying theory of imaging. We prove that all single viewpoint mirror-lens devices are equivalent to projective mappings from the sphere to the plane. These mappings are paired with a duality principle which relates points to line projections. The commonly used parabolic mirror projection is shown to be equivalent to the stereographic projection, providing therefore the invariants of a conformal mapping. It turns out that conventional cameras, which are only a special case in our theory, provide the barest minimum of information about the environment. We review current approaches to omnidirectional imaging and present a framework for calibration of omnidirectional cameras from single views.
Starting Page	89
Ending Page	96
File Size	774802
Page Count	8
File Format	PDF
ISBN	0769507506
ISSN	10514651
DOI	10.1109/ICPR.2000.905282
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-09-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Robot sensing systems Biosensors Navigation Image analysis Mirrors Cameras Sensor systems Lenses Laboratories
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

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