Departmental Papers (CIS)
Date of this Version
December 2001
Document Type
Conference Paper
Recommended Citation
Christopher Geyer and Kostas Daniilidis, "Structure and Motion from Uncalibrated Catadioptric Views", . December 2001.
Abstract
In this paper we present a new algorithm for structure from motion from point correspondences in images taken from uncalibrated catadioptric cameras with parabolic mirrors. We assume that the unknown intrinsic parameters are three: the combined focal length of the mirror and lens and the intersection of the optical axis with the image. We introduce a new representation for images of points and lines in catadioptric images which we call the circle space. This circle space includes imaginary circles, one of which is the image of the absolute conic. We formulate the epipolar constraint in this space and establish a new 4 x 4 catadioptric fundamental matrix. We show that the image of the absolute conic belongs to the kernel of this matrix. This enables us to prove that Euclidean reconstruction is feasible from two views with constant parameters and from three views with varying parameters. In both cases, it is one less than the number of views necessary with perspective cameras.
Date Posted: 21 November 2004
This document has been peer reviewed.
Comments
Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2001), Volume 1, pages I-279 - I-286.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21353&page=2
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