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Structure from Motion with Wide Circular Field of View Cameras
July 2006 (vol. 28 no. 7)
pp. 1135-1149
ASCII Text
x 
 
Branislav Micu??, Tom? Pajdla, "Structure from Motion with Wide Circular Field of View Cameras," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 7, pp. 1135-1149, July, 2006.
 
 
BibTex
x
 
@article{ 10.1109/TPAMI.2006.151,
author = {Branislav Micu?? and Tom? Pajdla},
title = {Structure from Motion with Wide Circular Field of View Cameras},
journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {28},
number = {7},
issn = {0162-8828},
year = {2006},
pages = {1135-1149},
doi = {http://doi.ieeecomputersociety.org/10.1109/TPAMI.2006.151},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Pattern Analysis and Machine Intelligence
TI - Structure from Motion with Wide Circular Field of View Cameras
IS - 7
SN - 0162-8828
SP1135
EP1149
EPD - 1135-1149
A1 - Branislav Micu??,
A1 - Tom? Pajdla,
PY - 2006
KW - Omnidirectional vision
KW - fish-eye lens
KW - catadioptric camera
KW - autocalibration.
VL - 28
JA - IEEE Transactions on Pattern Analysis and Machine Intelligence
ER -
 
This paper presents a method for fully automatic and robust estimation of two-view geometry, autocalibration, and 3D metric reconstruction from point correspondences in images taken by cameras with wide circular field of view. We focus on cameras which have more than 180^\circ field of view and for which the standard perspective camera model is not sufficient, e.g., the cameras equipped with circular fish-eye lenses Nikon FC-E8 (183^\circ), Sigma 8mm-f4-EX (180^\circ), or with curved conical mirrors. We assume a circular field of view and axially symmetric image projection to autocalibrate the cameras. Many wide field of view cameras can still be modeled by the central projection followed by a nonlinear image mapping. Examples are the above-mentioned fish-eye lenses and properly assembled catadioptric cameras with conical mirrors. We show that epipolar geometry of these cameras can be estimated from a small number of correspondences by solving a polynomial eigenvalue problem. This allows the use of efficient RANSAC robust estimation to find the image projection model, the epipolar geometry, and the selection of true point correspondences from tentative correspondences contaminated by mismatches. Real catadioptric cameras are often slightly noncentral. We show that the proposed autocalibration with approximate central models is usually good enough to get correct point correspondences which can be used with accurate noncentral models in a bundle adjustment to obtain accurate 3D scene reconstruction. Noncentral camera models are dealt with and results are shown for catadioptric cameras with parabolic and spherical mirrors.

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Index Terms:
Omnidirectional vision, fish-eye lens, catadioptric camera, autocalibration.
Citation:
Branislav Micu??, Tom? Pajdla, "Structure from Motion with Wide Circular Field of View Cameras," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 7, pp. 1135-1149, July 2006, doi:10.1109/TPAMI.2006.151
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