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ICCV
1998
IEEE

Ego-Motion and Omnidirectional Cameras

14 years 12 months ago
Ego-Motion and Omnidirectional Cameras
Recent research in image sensors has produced cameras with very large fields of view. A n area of computer vision research which will benefit from this technology is the computation of camera motion (ego-motion) from a sequence of images. Traditional cameras suffer from the problem that the direction of translation may lie outside of the field of view, making the computation of camera motion sensitive to noise. In this paper, we present a method for the recovery of ego-motion using omnidirectional cameras. Noting the relationship between spherical projection and wide-angle imaging devices, we propose mapping the image velocity vectors to a sphere, using the Jacobian of the transformation between the projection model of the camera and spherical projection. Once the velocity vectors are mapped to a sphere, we show how existing ego-motion algorithms can be applied and present some experimental results. These results demonstrate the ability to compute egomotion with omnidirectional camera...
Joshua Gluckman, Shree K. Nayar
Added 15 Oct 2009
Updated 15 Oct 2009
Type Conference
Year 1998
Where ICCV
Authors Joshua Gluckman, Shree K. Nayar
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