Mirror-adapted matching of catadioptric images

Images produced with catadioptric sensors contain a significant amount of radial distortions and variation in inherent scale. Direct application of conventional methods of image processing without considering the mirror anamorphosis yields erroneous issues. Examples of such applications are those based on the pixel neighborhood: one can mention image derivation, image convolution or image matching. The inefficiency of classical algorithms in catadioptric images processing leads in general to biased results. In this paper, we propose a new method to match a pair of catadioptric images taking into account their distorted topology. This method is based on an adapted window resulting from a convenient parameterization of the mirror. Experiments have been performed on image sequences acquired with a parabolic catadioptric sensor.