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ICRA
2009
IEEE

Planar Catadioptric Stereo: Single and multi-view geometry for calibration and localization

9 years 5 months ago
Planar Catadioptric Stereo: Single and multi-view geometry for calibration and localization
— Planar Catadioptric Stereo vision sensors (PCS) combine a pinhole camera with two or more planar mirrors. PCS have recently received an increasing attention since a stereo view can be easily obtained without the need of exact multi-camera synchronization and calibration. In this paper we present a rigorous analytical treatment of the imaging geometry of PCS, propose new mirror calibration algorithms and introduce new multi-view properties that can be used for eye-in-hand camera localization. The effectiveness of the algorithms is shown via extensive simulation and real-data experiments on a robotic manipulator.
Gian Luca Mariottini, Stefano Scheggi, Fabio Morbi
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Gian Luca Mariottini, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
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