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Catadioptric sensor

About: Catadioptric sensor is a research topic. Over the lifetime, 79 publications have been published within this topic receiving 3544 citations.


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Proceedings ArticleDOI
17 Jun 1997
TL;DR: A new camera with a hemispherical field of view is presented and results are presented on the software generation of pure perspective images from an omnidirectional image, given any user-selected viewing direction and magnification.
Abstract: Conventional video cameras have limited fields of view that make them restrictive in a variety of vision applications. There are several ways to enhance the field of view of an imaging system. However, the entire imaging system must have a single effective viewpoint to enable the generation of pure perspective images from a sensed image. A new camera with a hemispherical field of view is presented. Two such cameras can be placed back-to-back, without violating the single viewpoint constraint, to arrive at a truly omnidirectional sensor. Results are presented on the software generation of pure perspective images from an omnidirectional image, given any user-selected viewing direction and magnification. The paper concludes with a discussion on the spatial resolution of the proposed camera.

688 citations

Journal ArticleDOI
TL;DR: This paper derives the complete class of single-lens single-mirror catadioptric sensors that have a single viewpoint, and describes all of the solutions in detail, including the degenerate ones, with reference to many of the catadi optric systems that have been proposed in the literature.
Abstract: Conventional video cameras have limited fields of view which make them restrictive for certain applications in computational vision. A catadioptric sensor uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view. One important design goal for catadioptric sensors is choosing the shapes of the mirrors in a way that ensures that the complete catadioptric system has a single effective viewpoint. The reason a single viewpoint is so desirable is that it is a requirement for the generation of pure perspective images from the sensed images. In this paper, we derive the complete class of single-lens single-mirror catadioptric sensors that have a single viewpoint. We describe all of the solutions in detail, including the degenerate ones, with reference to many of the catadioptric systems that have been proposed in the literature. In addition, we derive a simple expression for the spatial resolution of a catadioptric sensor in terms of the resolution of the cameras used to construct it. Moreover, we include detailed analysis of the defocus blur caused by the use of a curved mirror in a catadioptric sensor.

684 citations

Book ChapterDOI
26 Jun 2000
TL;DR: This paper provides a unifying theory for all central catadioptric systems and shows that all of them are isomorphic to projective mappings from the sphere to a plane with a projection center on the perpendicular to the plane.
Abstract: Omnidirectional vision systems can provide panoramic alertness in surveillance, improve navigational capabilities, and produce panoramic images for multimedia. Catadioptric realizations of omnidirectional vision combine reflective surfaces and lenses. A particular class of them, the central panoramic systems, preserve the uniqueness of the projection viewpoint. In fact, every central projection system including the well known perspective projection on a plane falls into this category. In this paper, we provide a unifying theory for all central catadioptric systems. We show that all of them are isomorphic to projective mappings from the sphere to a plane with a projection center on the perpendicular to the plane. Subcases are the stereographic projection equivalent to parabolic projection and the central planar projection equivalent to every conventional camera. We define a duality among projections of points and lines as well as among different mappings. This unification is novel and has a significant impact on the 3D interpretation of images. We present new invariances inherent in parabolic projections and a unifying calibration scheme from one view. We describe the implied advantages of catadioptric systems and explain why images arising in central catadioptric systems contain more information than images from conventional cameras. One example is that intrinsic calibration from a single view is possible for parabolic catadioptric systems given only three lines. Another example is metric rectification using only affine information about the scene.

562 citations

Proceedings ArticleDOI
04 Jan 1998
TL;DR: In this article, the authors derived the complete class of single-lens single-mirror catadioptric sensors which have a single viewpoint and an expression for the spatial resolution of a single-view camera in terms of the resolution of the camera used to construct it.
Abstract: Conventional video cameras have limited fields of view which make them restrictive for certain applications in computational vision. A catadioptric sensor uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view. When designing a catadioptric sensor, the shape of the mirror(s) should ideally be selected to ensure that the complete catadioptric system has a single effective viewpoint. In this paper, we derive the complete class of single-lens single-mirror catadioptric sensors which have a single viewpoint and an expression for the spatial resolution of a catadioptric sensor in terms of the resolution of the camera used to construct it. We also include a preliminary analysis of the defocus blur caused by the use of a curved mirror.

415 citations

Journal ArticleDOI
01 Dec 2000
TL;DR: A method for the visual-based navigation of a mobile robot in indoor environments, using a single omnidirectional (catadioptric) camera is proposed, which significantly simplifies the solution to navigation problems, by eliminating any perspective effects.
Abstract: Proposes a method for the visual-based navigation of a mobile robot in indoor environments, using a single omnidirectional (catadioptric) camera. The geometry of the catadioptric sensor and the method used to obtain a bird's eye (orthographic) view of the ground plane are presented. This representation significantly simplifies the solution to navigation problems, by eliminating any perspective effects. The nature of each navigation task is taken into account when designing the required navigation skills and environmental representations. We propose two main navigation modalities: topological navigation and visual path following. Topological navigation is used for traveling long distances and does not require knowledge of the exact position of the robot but rather, a qualitative position on the topological map. The navigation process combines appearance based methods and visual servoing upon some environmental features. Visual path following is required for local, very precise navigation, e.g., door traversal, docking. The robot is controlled to follow a prespecified path accurately, by tracking visual landmarks in bird's eye views of the ground plane. By clearly separating the nature of these navigation tasks, a simple and yet powerful navigation system is obtained.

343 citations

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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20201
20191
20181
20171
20143
20135