/Extending Shape from Motion to Non-Central Omnidirectional Cameras

Extending Shape from Motion to Non-Central Omnidirectional Cameras

Dennis Strelow, Jeffrey S. Mishler, Sanjiv Singh and Herman Herman
Conference Paper, Proceedings of IROS 2001, January, 2001

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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.

BibTeX Reference
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},
month = {January},