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IROS
2007
IEEE

A generic fisheye camera model for robotic applications

14 years 4 months ago
A generic fisheye camera model for robotic applications
— Omnidirectional cameras have a wide field of view and are thus used in many robotic vision tasks. An omnidirectional view may be acquired by a fisheye camera which provides a full image compared to catadioptric visual sensors and do not increase the size and the weakness of the imaging system with respect to perspective cameras. We prove that the unified model for catadioptric systems can model fisheye cameras with distortions directly included in its parameters. This unified projection model consists on a projection onto a virtual unitary sphere, followed by a perspective projection onto an image plane. The validity of this assumption is discussed and compared with other existing models. Calibration and partial Euclidean reconstruction results help to confirm the validity of our approach. Finally, an application to the visual servoing of a mobile robot is presented and experimented.
Jonathan Courbon, Youcef Mezouar, Laurent Eck, Phi
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Jonathan Courbon, Youcef Mezouar, Laurent Eck, Philippe Martinet
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