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1、AFlexibleTechniqueforAccurateOmnidirectionalCameraCalibrationandStructurefromMotionDavideScaramuzza1,AgostinoMartinelli,RolandSiegwartSwissFederalInstituteofTechnologyLausanne(EPFL)CH-1015Lausanne,Switzerland{davide.scaramuzza,agostino.martinelli,roland.siegwart}@epfl.ch
2、AbstractForomnidirectionalcameraisusuallyintendedavi-sionsystemprovidinga360°panoramicviewoftheInthispaper,wepresentaflexiblenewtechniquescene.Suchanenhancedfieldofviewcanbeachievedforsingleviewpointomnidirectionalcameracalibra-byeitherusingcatadioptricsystems,obtainedby
3、tion.Theproposedmethodonlyrequiresthecameratoopportunelycombiningmirrorsandconventionalcam-observeaplanarpatternshownatafewdifferentori-eras,oremployingpurelydioptricfish-eyelenses[13].entations.EitherthecameraortheplanarpatterncanAsnotedin[1,3,11],itishighlydesirabletha
4、tsuchbefreelymoved.Noaprioriknowledgeofthemotionimagingsystemshaveasingleviewpoint[4,6].Thatisrequired,noraspecificmodeloftheomnidirectionalis,thereexistsasinglecenterofprojection,sothat,sensor.Theonlyassumptionisthattheimageprojec-everypixelinthesensedimagesmeasuresthei
5、rradi-tionfunctioncanbedescribedbyaTaylorseriesex-anceofthelightpassingthroughthesameviewpointinpansionwhosecoefficientsareestimatedbysolvingaoneparticulardirection.Thereasonasingleviewpointtwo-stepleast-squareslinearminimizationproblem.issodesirableisthatitpermitsthegen
6、erationofgeo-Totesttheproposedtechnique,wecalibratedapano-metricallycorrectperspectiveimagesfromthepicturesramiccamerahavingafieldofviewgreaterthan200°capturedbytheomnidirectionalcamera.Moreover,itintheverticaldirection,andweobtainedverygoodallowsapplyingtheknowntheoryof
7、epipolargeome-results.Toinvestigatetheaccuracyofthecalibration,try,whicheasilypermitstoperformego-motionesti-wealsousedtheestimatedomni-cameramodelinamationandstructure-from-motionfromimagecorre-structurefrommotionexperiment.Weobtaineda3Dspondencesonly.metricreconstructi
8、onofascenefromtwohighlydis-Previousworksonomnidirectionalcameracalibra-tortedomnidirectionalimagesbyusi
