Omnidirectional Projections with a Cone Mirror and Single Mirror Stereo

Abstract : In this paper we present forward and backward projection formulae for catadioptric omnidirectional vision using an arbitrarily located cone mirror and perspective camera. For the back projection a quasi closed-form solution is derived, while for the forward projection an itterative method is used. We then show that these formulae can be used to achieve stereo vision using only a single mirror, without strict alignment requirements between the cameras and the mirror.