Title :
Approximating a single viewpoint in panoramic imaging devices
Author :
Derrien, Steven ; Konolige, Kurt
Author_Institution :
IRISA, Rennes, France
Abstract :
Recent panoramic cameras present a very wide field of view from a single viewpoint. A single viewpoint is useful in mobile robotics for a number of reasons, including perspective reprojection and stereo analysis. However, the requirement of single viewpoint for panoramic cameras restricts the optical and geometrical design of these devices. In this paper we present a method for approximating a single viewpoint in panoramic devices that allows much greater freedom in design. We illustrate the method with a compact catadioptric device using a spherical mirror and standard optics, and apply it to perspective reprojection. The resultant panoramic camera has been integrated as a surveillance device on a small mobile robot
Keywords :
computer vision; mobile robots; stereo image processing; surveillance; catadioptric device; geometrical design; mobile robotics; panoramic cameras; panoramic devices; panoramic imaging devices; perspective reprojection; single viewpoint approximation; spherical mirror; standard optics; stereo analysis; surveillance device; Cameras; Image converters; Image resolution; Lenses; Mirrors; Optical design; Optical devices; Optical distortion; Optical imaging; Robot vision systems;
Conference_Titel :
Omnidirectional Vision, 2000. Proceedings. IEEE Workshop on
Conference_Location :
Hilton Head Island, SC
Print_ISBN :
0-7695-0704-2
DOI :
10.1109/OMNVIS.2000.853811
