Space and camera path reconstruction for omni-directional vision

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Space and camera path reconstruction for omni-directional vision
In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the reconstruction is unique. For example, if there are three points in general position and three omni-directional cameras in general position, a unique reconstruction is possible up to a similarity. We then look at the reconstruction problem with m cameras and n points, where n and m can be large and the over-determined system is solved by least square methods. The reconstruction is robust and generalizes to the case of a dynamic environment where landmarks can move during the movie capture. Possible applications of the result are computer assisted scene reconstruction, 3D scanning, autonomous robot navigation, medical tomography and city reconstructions.
Oliver Knill, Jose Ramirez-Herran
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2007
Where CORR
Authors Oliver Knill, Jose Ramirez-Herran
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