General Imaging Geometry for Central Catadioptric Cameras

Peter Sturm 1 Joao Barreto 2
1 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : Catadioptric cameras are a popular type of omnidirectional imaging system. Their imaging and multi-view geometry has been exten- sively studied; epipolar geometry for instance, is geometrically speaking, well understood. However, the existence of a bilinear matching constraint and an associated fundamental matrix, has so far only been shown for the special case of para-catadioptric cameras (consisting of a paraboloidal mirror and an orthographic camera). The main goal of this work is to obtain such results for all central catadioptric cameras. Our main result is to show the existence of a general 15x15 fundamental matrix. This is based on and completed by a number of other results, e.g. the formulation of general catadioptric projection matrices and plane homographies.
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Peter Sturm, Joao Barreto. General Imaging Geometry for Central Catadioptric Cameras. ECCV 2008 - 10th European Conference on Computer Vision, Oct 2008, Marseille, France. pp.609-622, ⟨10.1007/978-3-540-88693-8_45⟩. ⟨inria-00384256⟩

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