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Carnegie Mellon Robotics Institute

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Abstract

Algorithms for shape-from-motion simultaneously estimate camera motion and scene structure. When extended to omnidirectional cameras, shape-from-motion algorithms are likely to provide robust motion estimates, in particular, because of the camera's wide field of view. In this paper, we describe both batch and online shape-from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape-from-motion and calibration methods are general and handle a wide variety of omnidirectional camera geometries. In particular, the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion esimates.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Text Reference

Dennis Strelow, Jeffrey S. Mishler, Sanjiv Singh, and Herman Herman, "Extending Shape from Motion to Non-Central Omnidirectional Cameras," Proceedings of IROS 2001, 2001.

BibTeX Reference

@inproceedings{Strelow_2001_4016,
   author = "Dennis Strelow and Jeffrey S Mishler and Sanjiv Singh and Herman Herman",
   title = "Extending Shape from Motion to Non-Central Omnidirectional Cameras",
   booktitle = "Proceedings of IROS 2001",
   year = "2001",
}

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