NDLI: Fusing optical flow and stereo in a spherical depth panorama using a single-camera folded catadioptric rig

Content Provider	IEEE Xplore Digital Library
Author	Labutov, I. Jaramillo, C. Jizhong Xiao
Copyright Year	2011
Description	Author affiliation: Electrical Engineering Department, City College of New York, Convent Ave & 140th Street, 10031, USA (Jizhong Xiao) \|\| Computer Engineering Department, City College of New York (CUNY), 10031 USA (Labutov, I.; Jaramillo, C.)
Abstract	We present a novel catadioptric-stereo rig consisting of a coaxially-aligned perspective camera and two spherical mirrors with distinct radii in a “folded” configuration. We recover a nearly-spherical dense depth panorama (360°×153°) by fusing depth from optical flow and stereo. We observe that for motion in a horizontal plane, optical flow and stereo generate nearly complementary distributions of depth resolution. While optical flow provides strong depth cues in the periphery and near the poles of the view-sphere, stereo generates reliable depth in a narrow band about the equator. We exploit this principle by modeling the depth resolution of optical flow and stereo in order to fuse them probabilistically in a spherical panorama. To aid the designer in achieving a desired field-of-view and resolution, we derive a linearized model of the rig in terms of three parameters (radii of the two mirrors plus axial separation from their centers). We analyze the error due to the violation of the Single Viewpoint (SVP) constraint and formulate additional constraints on the design to minimize the error. Performance is evaluated through simulation and with a real prototype by computing dense spherical panoramas in cluttered indoor settings.
Starting Page	3092
Ending Page	3097
File Size	1351255
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980103
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mirrors Optical imaging Adaptive optics Cameras Robots Uncertainty Approximation methods
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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