Automatic Scene Structure and Camera Motion using a Catadioptric System

Abstract : Fully automatic methods are presented for the estimation of scene structure and camera motion from an image sequence acquired by a catadioptric system. The first contribution is the design of bundle adjustments for both central and non-central models, by taking care of the smoothness of the minimized error functions. The second contribution is an extensive experimental study for long sequences of catadioptric images in a context useful for applications: a hand-held and equiangular camera moving on the ground. An equiangular camera is non-central and provides uniform resolution in the image radial direction. Many experiments dealing with robustness, accuracy, uncertainty, comparisons between both central and non-central models, and piecewise planar 3D modeling are provided.
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Maxime Lhuillier. Automatic Scene Structure and Camera Motion using a Catadioptric System. Computer Vision and Image Understanding, Elsevier, 2008, 109 (2), pp.186-203. ⟨10.1016/j.cviu.2007.05.004⟩. ⟨hal-01635661⟩

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