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Showing papers on "Line segment published in 2000"


Proceedings ArticleDOI
24 Apr 2000
TL;DR: A new closed line segment (CLS) map is introduced which consists of only line segments and defines a closed and connected region and it is argued that the CLS map provides an efficient mobile robot exploration scheme.
Abstract: We study a new scheme for map building and describe localization techniques for a mobile robot equipped with a 2D laser rangefinder. We propose to use line segments as the basic element for the purpose of localization and to build the map. Line segments do provide considerable geometric information about the scene that can also be used for accurate and fast localization. We introduce a new closed line segment (CLS) map which consists of only line segments and defines a closed and connected region. Virtual line segments are drawn, for the spots that do not adequately describe a line segment on the range data. These are further explored via navigation and we argue that the CLS map provides an efficient mobile robot exploration scheme. All these techniques have been implemented on our Nomad XR4000 mobile robot and results are described in this paper.

175 citations


Journal ArticleDOI
TL;DR: Multi-view relationships are developed for lines, conics and non-algebraic curves using the homography induced by this plane for transfer from one image to another in a projective reconstruction of imaged curves.
Abstract: This paper describes the geometry of imaged curves in two and three views. Multi-view relationships are developed for lines, conics and non-algebraic curves. The new relationships focus on determining the plane of the curve in a projective reconstruction, and in particular using the homography induced by this plane for transfer from one image to another. It is shown that given the fundamental matrix between two views, and images of the curve in each view, then the plane of a conic may be determined up to a two fold ambiguity, but local curvature of a curve uniquely determines the plane. It is then shown that given the trifocal tensor between three views, this plane defines a homography map which may be used to transfer a conic or the curvature from two views to a third. Simple expressions are developed for the plane and homography in each case. A set of algorithms are then described for automatically matching individual line segments and curves between images. The algorithms use both photometric information and the multiple view geometric relationships. For image pairs the homography facilitates the computation of a neighbourhood cross-correlation based matching score for putative line/curve correspondences. For image triplets cross-correlation matching scores are used in conjunction with line/curve transfer based on the trifocal geometry to disambiguate matches. Algorithms are developed for both short and wide baselines. The algorithms are robust to deficiencies in the segment extraction and partial occlusion. Experimental results are given for image pairs and triplets, for varying motions between views, and for different scene types. The methods are applicable to line/curve matching in stereo and trinocular rigs, and as a starting point for line/curve matching through monocular image sequences.

173 citations


Journal ArticleDOI
TL;DR: The aim of this work is to make it possible walkthrough and augment reality in a 3D model reconstructed from a single image to calibrate a camera and to recover the geometry and the photometry (textures) of objects from asingle image.
Abstract: In this paper, we show how to calibrate a camera and to recover the geometry and the photometry (textures) of objects from a single image. The aim of this work is to make it possible walkthrough and augment reality in a 3D model reconstructed from a single image. The calibration step does not need any calibration target and makes only four assumptions: (1) the single image contains at least two vanishing points, (2) the length (in 3D space) of one line segment (for determining the translation vector) in the image is known, (3) the principle point is the center of the image, and (4) the aspect ratio is fixed by the user. Each vanishing point is determined from a set of parallel lines. These vanishing points help determine a 3D world coordinate system R o. After having computed the focal length, the rotation matrix and the translation vector are evaluated in turn for describing the rigid motion between R o and the camera coordinate system R c. Next, the reconstruction step consists in placing, rotating, scaling, and translating a rectangular 3D box that must fit at best with the potential objects within the scene as seen through the single image. With each face of a rectangular box, a texture that may contain holes due to invisible parts of certain objects is assigned. We show how the textures are extracted and how these holes are located and filled. Our method has been applied to various real images (pictures scanned from books, photographs) and synthetic images.

170 citations


Patent
30 Nov 2000
TL;DR: In this article, the line segment is fabricated by patterning a hard mask to provide a line segment, with a first dimension measured across the line segments, and then reacting a surface layer of the surface layer to form a layer of a reaction product on a remaining portion of line segment.
Abstract: Lines are fabricated by patterning a hard mask to provide a line segment, the line segment having a first dimension measured across the line segment; reacting a surface layer of the line segment to form a layer of a reaction product on a remaining portion of the line segment; and removing the reaction product without attacking the remaining portion of the line segment and without attacking the substrate to form the line segment with a dimension across the line segment that is smaller than the first dimension.

104 citations


Journal ArticleDOI
TL;DR: A model for describing the positional error of line segments in geographical information systems (GIS) based on stochastic process theory with the assumptions that the errors of the endpoints of a line segment follow two-dimensional normal distributions is presented.
Abstract: This paper presents a model for describing the positional error of line segments in geographical information systems (GIS). The model is based on stochastic process theory with the assumptions that the errors of the endpoints of a line segment follow two-dimensional normal distributions. The distribution and density functions of the line segments are derived statistically. The uncertainty information matrix of line segments is derived to indicate the error of an arbitrary point on the line segment. This model covers the cases where two-end points are correlated to each other and points on the line segment are stochastically continuous to each other. The model is a more generic error band model than those previously developed and is called the G-Band model.

103 citations


Proceedings ArticleDOI
31 Oct 2000
TL;DR: Low computational requirements, accuracy and robustness to uncertainty and noise characterize the performance of this new method for feature extraction.
Abstract: A layered algorithm for extracting features in an indoor environment from planar range data is presented. At the lower (signal processing) level, the SEGMENTS algorithm exploits the speed and accuracy of two extended Kalman filters working in tandem and processes sequentially the distance measurements within each scan. The first Kalman filter is responsible for initiating straight line segments and detecting clutter while the second estimates the parameters of each line segment (such as distance and orientation) and determines when this is interrupted. The dual filter combination is capable of detecting edges and straight line segments within the scene in front of the robot. At the higher (post-processing) level, the identified segments are combined to form more complex features such as extended walls, corners (concave and convex), doors and corridors. During the composition cycle, SEGMENTS makes use of (i) the parametric representation of the straight line segments and (ii) the prespecific topological models of the features this algorithm seeks. A list of the identified features along with their location with respect to the laser sensor is finally available to the user. The cluttered regions in the scene are also marked on a polar representation of the environment. The presented algorithm has been tested on a Pioneer 2 DX mobile robot equipped with a SICK LMS 200 proximity laser scanner performing map-based localization. Low computational requirements, accuracy and robustness to uncertainty and noise characterize the performance of this new method for feature extraction.

55 citations


Journal ArticleDOI
TL;DR: Close-form solutions are obtained for registering two sets of line segments, triangle patches, or even general simple geometric objects that are defined by a set of ordered points based on new registration approaches similar to the ICP algorithm.
Abstract: In this paper, closed-form solutions are obtained for registering two sets of line segments, triangle patches, or even general simple geometric objects that are defined by a set of ordered points. Based on these new registration approaches, the iterative closest line segment registration (ICL) algorithm and the iterative closest triangle patch registration (ICT) algorithm are developed similar to the ICP algorithm. To simplify the mathematical representation, the concept of matrix scalar product is defined and some of its properties are given. The newly developed registration methods are tested. The test shows that the ICL algorithm and the ICT algorithm work much better than the conventional ICP algorithm considering that the ICL and the ICT algorithms are much less sensitive to the initial orientations of the object.

41 citations


Journal ArticleDOI
TL;DR: This work considers whether restricted sets of geometric predicates support efficient algorithms to solve line and curve segment intersection problems in the plane based on the notion of algebraic degree, and gives optimal O(nlogn+k) algorithms for red/blue line and pseudo-segment intersection.
Abstract: We consider whether restricted sets of geometric predicates support efficient algorithms to solve line and curve segment intersection problems in the plane. Our restrictions are based on the notion of algebraic degree, proposed by Preparata and others as a way to guide the search for efficient algorithms that can be implemented in more realistic computational models than the Real RAM. Suppose that n (pseudo-)segments have k intersections at which they cross. We show that intersection algorithms for monotone curves that use only comparisons and above/below tests for endpoints, and intersection tests, must take at least Ω(n k ) time. There are optimal O(nlogn+k) algorithms that use a higher-degree test comparing x coordinates of an endpoint and intersection point; for line segments we show that this test can be simulated using CCW () tests with a logarithmic loss of efficiency. We also give an optimal O(nlogn+k) algorithms for red/blue line and pseudo-segment intersection, in which the segments are colored red and blue so that there are no red/red or blue/blue crossings.

41 citations


DOI
01 Jan 2000
TL;DR: An algorithm for automatically matching line segments across images is developed and implemented to deliver locally consistent matches and results of straight line matching are presented and future work is discussed.
Abstract: Road network extraction from aerial images has received attention in photogrammetry and computer vision for decades. We present a concept for road network reconstruction from aerial images using knowledge-based image analysis. In contrast to other approaches, the proposed approach uses multiple cues about the object existence, employs existing knowledge, rules and models, and treats each road subclass differently to increase success rate and reliability of the results. Finding 3D edges on the road and especially the road borders is a crucial component of our procedure and is the focus of this paper. We developed an algorithm for automatically matching line segments across images. The algorithm exploits line geometrical and photometrical attributes and line geometrical structures. A framework to integrate these information sources using probability relaxation is developed and implemented to deliver locally consistent matches. Results of straight line matching are presented and future work is discussed.

39 citations


Patent
29 Sep 2000
TL;DR: In this paper, the authors proposed a method of determining a vanishing point related to an image, which includes the steps of detecting line segments in the image, determining intersections from pairs of line segments, assigning a probability to each intersection of the pairs of lines, determining a local maximum corresponding to a plurality of probabilities, and outputting an estimated vanishing point vector νE that corresponds to the determined local maximum such that an estimated location of the vanishing point about the estimated vanishing points about the predicted probabilities results.
Abstract: A method of determining a vanishing point related to an image, the method includes the steps of: detecting line segments in the image; determining intersections from pairs of line segments; assigning a probability to each intersection of the pairs of line segments; determining a local maximum corresponding to a plurality of probabilities; and outputting an estimated vanishing point vector νE that corresponds to the determined local maximum such that an estimated location of the vanishing point about the estimated vanishing point vector νE results.

38 citations


Proceedings ArticleDOI
03 Sep 2000
TL;DR: By indicating the identity between a method using Thales' theorem and a Gaussian sphere based method it is shown that the knowledge of the position of the projection centre is not necessary as mostly assumed and this fact allows an accuracy improvement of a number of former methods usingGaussian sphere representation.
Abstract: Some methods for the determination of vanishing points using line segments are presented. By indicating the identity between a method using Thales' theorem and a Gaussian sphere based method we show that the knowledge of the position of the projection centre is not necessary as mostly assumed. This fact allows an accuracy improvement of a number of former methods using Gaussian sphere representation. We show by presenting some simulation experiments that the methods give very accurate results even in the case of very strong disturbances. With the knowledge of the noise value of the segment end point positions the random error can be estimated and the uncertainty of the calculated vanishing point can be determined.

Journal ArticleDOI
TL;DR: A novel run-length-based stroke extraction approach without using the thinning method, which does not need to trace the skeleton pixel by pixel in obtaining the skeletons of Chinese characters.

Journal ArticleDOI
TL;DR: A query structure is built that for a set of n points P can determine the closest point in P to a query segment outside the convex hull of P in O(logn) time, which solves the problem of computing the nearest point to each of n disjoint line segments in O (nlog3n) time.
Abstract: In this paper we consider proximity problems in which the queries are line segments in the plane. We build a query structure that for a set of n points P can determine the closest point in P to a query segment outside the convex hull of P in O(logn) time. With this we solve the problem of computing the closest point to each of n disjoint line segments in O(nlog3n) time. Nearest foreign neighbors or Hausdorff distance for disjoint, colored segments can be computed in the same time. We explore some connections to Hopcroft's problem.

Patent
Masahiro Kato1
13 Jun 2000
TL;DR: In this article, an image data is scanned using a line segment basic element to extract line segment data from the image data, and pixel data included in the line segment Basic Element is used as one unit and it is judged for each unit whether the pixel data corresponds to line segment.
Abstract: The present invention provides an image processing apparatus and method that enables extraction of line segments of an arbitrary width from multi-valued images not uniform in background. To extract line segment data constituting a line segment, image data is scanned using a line segment basic element to extract line segment data from the image data. In other words, pixel data included in the line segment basic element is used as one unit and it is judged for each unit whether the pixel data corresponds to line segment data. Thereby, even if the densities of pixel data corresponding to, e.g., backgrounds are not uniform, by judging the line segment basic element as one unit, line segment data of a line segment width to be extracted can be extracted free of the influence of the densities being not uniform.

Journal ArticleDOI
TL;DR: This paper suggests a new line detection approach, called the extended connective randomized Hough transform (ECRHT), to alleviate problems with images with many distorted lines, and the use of gradient information of edge points is discussed.
Abstract: In this paper we study how to combine local and global line extraction. The Hough transform is usually used to detect line segments in an image. However, the standard Hough transform (SHT) suffers from time and storage complexity, and it is incapable to utilize local line extraction. Recently an approach, called the connective randomized Hough transform (CRHT), has been proposed to take advantage of local detection, such as the connectivity of neighboring edge points and the line fitting of these detected points. However, this approach contains problems with images with many distorted lines. We suggest a new line detection approach, called the extended connective randomized Hough transform (ECRHT), to alleviate these problems. The use of gradient information of edge points is also discussed. Experiments with simulated and real-world data demonstrate the benefits of the ECRHT, as compared to the SHT and the CRHT.

Journal ArticleDOI
TL;DR: Experimental results are presented that show that the number of intersections that cannot be resolved using interval tools is fairly large in close to degenerate configurations of the segments and that the algorithm is significantly faster than an algorithm implemented using exact arithmetic.
Abstract: The main result of this paper is a new algorithm that tests whether two line segments in the plane intersect. If the segments are defined using the coordinates of the endpoints in single-precision floating-point arithmetic, then the result of the test is exact. The equations of the segments are given in parametric form using the endpoint coordinates, and an equation whose solution would provide the coordinates of the intersection is developed. Interval arithmetic is then used to compute an inclusion of the coordinates of the intersection point. This inclusion is often sufficient to decide the intersection test. When it is not, a method for determining the exact sign of a sum is applied to the equations at an earlier stage of the solution process. Experimental results are presented that show that the number of intersections that cannot be resolved using interval tools is fairly large in close to degenerate configurations of the segments and that the algorithm is significantly faster than an algorithm implemented using exact arithmetic.

Patent
18 Apr 2000
TL;DR: In this article, a method of processing an image includes processing the image so as to produce a modified image in which the width of each line object is a single pixel, identifying pixels of the modified image which are relocated on a line object, and allocating to each image point a score value dependent upon the number of adjacent pixels which are likewise located on the line, determining from the score values which of the image points is disassociated with a crossing point or a bifurcation of the respective line object.
Abstract: A method of processing an image includes processing the image so as to produce a modified image in which the width of each line object is a single pixel, identifying pixels of the modified image which are relocated on a line object, and allocating to each image point a score value dependent upon the number of adjacent pixels which are likewise located on a line, determining from the score values which of the image points is disassociated with a crossing point or a bifurcation of the respective line object, performing a matching operation on pairs of line segments for each crossing point, classifying the line objects in the original image into two arbitrary sets, and designating one of the sets as representing venous structure, the other of the sets as representing arterial structure

Journal ArticleDOI
13 Dec 2000
TL;DR: A first method based on techniques for segmentation of curves in discrete lines leads to a very simple algorithm whose correctness is proven and a characterisation of lower and upper convex hulls of a discrete line segment is obtained.
Abstract: The convexity of a discrete region is a property used in numerous domains of computational imagery. We study its detection in the particular case of polyominoes. We present a first method, directly relying on its definition. A second method, which is based on techniques for segmentation of curves in discrete lines, leads to a very simple algorithm whose correctness is proven. Correlatively, we obtain a characterisation of lower and upper convex hulls of a discrete line segment. Finally, we evoke some applications of these results to the problem of discrete tomography.

Journal ArticleDOI
TL;DR: An optimal algorithm is proposed to find all largest circles separating two given sets of line segments when line segments are allow ed to meet only at their endpoints.
Abstract: A circle C separates two planar sets if it encloses one of the sets and its open interior disk does not meet the other set. A separating circle is a largest one if it cannot be locally increased while still separating the two given sets. An Θ(n log n) optimal algorithm is proposed to find all largest circles separating two given sets of line segments when line segments are allowed to meet only at their endpoints. In the general case, when line segments may intersect Ω(n2) times, our algorithm can be adapted to work in O(nα(n)log n) time and O (nα(n)) space, where α(n) represents the extremely slowly growing inverse of the Ackermann function.

Patent
14 Sep 2000
TL;DR: In this paper, an image processor extracts edge picture elements of an input image, connects the extracted image elements to extract a line segment, corrects the inclination angle of the image on the basis of the extracted line segment and determines the completion of correction in the case of the inclination corrected by a correcting means is a specified threshold value or less.
Abstract: PROBLEM TO BE SOLVED: To provide an image processor, an image processing method and a recording medium recording the same, for making an inclination correction with high accuracy even if a line segment existing in an image is in contact with a character and a picture, even in the presence of an oblique line segment which is a factor of a correction error, and even if the peripheral edge of a document is not white. SOLUTION: This image processor extracts edge picture elements of an input image, connects the extracted edge picture elements to extract a line segment, extracts the inclination angle of the image on the basis of the extracted line segment, corrects the inclination of the image on the basis of the extracted inclination angle of the image, determines the completion of correction in the case of the inclination corrected by a correcting means is a specified threshold value or less, and repeats the extraction of the inclination, the correction of the inclination and the determination of completion, with an output image after the correction of the inclination as a new input image until the completion is determined.

Book ChapterDOI
13 Dec 2000
TL;DR: This paper shows that critical edges are the only possible locations of vertices of the minimum-length polygonal curve fully contained and complete in the tube of this digital curve.
Abstract: Simple cube-curves in a 3D orthogonal grid are polyhedrally bounded sets which model digitized curves or arcs in three-dimensional euclidean space. The length of such a simple digital curve is defined to be the length of the minimum-length polygonal curve fully contained and complete in the tube of this digital curve. A critical edge is a grid edge contained in three consecutive cubes of a simple cube-curve. This paper shows that critical edges are the only possible locations of vertices of the minimum-length polygonal curve fully contained and complete in the tube of this digital curve.

Proceedings ArticleDOI
03 Sep 2000
TL;DR: Experimental results show that the proposed approach is feasible and efficient in extracting strokes of Chinese characters in a novel run length based stroke extraction approach without using the thinning method.
Abstract: This paper proposes a novel run length based stroke extraction approach for Chinese characters without using the thinning method to avoid distortions around the function area generated by the method. In our approach, the run-length coding technique is first employed to obtain a special skeleton which only owns disjoint line segments with no fork points. Then, an attributed graph is constructed from the skeleton. Intersection relation among line segments is represented by a junction matrix and its associating graph. While stroke extraction is performed, the fork points can also be found. Experimental results show that the proposed approach is feasible and efficient in extracting strokes of Chinese characters.

Proceedings ArticleDOI
06 Jun 2000
TL;DR: An in-depth analysis of the empirical PSF of detector pixels filtered by the 4-step algorithm confirmed the theoretical results and modifications for practical implementation are outlined which are subject to further investigations.
Abstract: In the long object problem it is intended to reconstruct exactly a region-of-interest (ROI) of an object from spiral cone beam data which covers the ROI and its nearest vicinity only. In the first paper in a series of two the theory of the local ROI method is derived using the filtered-backprojection approach. In the present second paper the demanding numerical implementation is described. The straightforward 4-step algorithm is applied. It mainly consists of explicit calculations of the derivatives of partial plane integrals of the object from line segments in the projection images. In the local ROI method grouping of line segments to particular (phi) -planes in 3-D Radon space is important. A rigorous grouping causes artifacts which can be avoided by a fuzzy correspondence of line segments to (phi) -planes. In the ROI the same image quality is achieved for a partial scan as for a full scan. However, the method suffers from high computational requirements. The filtering step can be speeded up by replacing the 4-step algorithm by convolution with spatially variant 1-D Hilbert transforms. An in-depth analysis of the empirical PSF of detector pixels filtered by the 4-step algorithm confirmed the theoretical results. Modifications for practical implementation are outlined which are subject to further investigations.© (2000) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Proceedings ArticleDOI
01 Sep 2000
TL;DR: This paper shows theoretically and experimentally that calculation costs for line detection is extremely reduced without any degradation of detectability and reliability in comparison with a conventional Hough transform.
Abstract: In line detection method first let the candidates of line segment whose positional precision or reliability are guaranteed to some extent be extracted in a local area, then let the line be extracted by a verification process in the existing area of candidate line which is defined by an extension process for the line segment in the pattern space, and finally let all lines be extracted by a shifting operation of the local area in the image appropriately. By these processes, our method realizes the absorption of the quantization errors in Hough transform, as well as the extraction of short line segments. Furthermore, parallel processing is available for the hardware implementation. In this paper, we show theoretically and experimentally that calculation costs for line detection is extremely reduced without any degradation of detectability and reliability in comparison with a conventional Hough transform.

Proceedings ArticleDOI
01 Jan 2000
TL;DR: This paper shows how the geometry of the lineendpoints can be used to compute a grouping field by interpolating a polar lemniscate between them and presents a non-iterative method for locating line-groupings using the eigenvectors of the adjacency matrix.
Abstract: This paper presents an eigenclustering approach to line-segment grouping. We make three contributions. First, we show how the geometry of the lineendpoints can be used to compute a grouping field by interpolating a polar lemniscate between them. Second, we show how to adaptively threshold the grouping field to produce a line-adjacency matrix. Finally, we present a non-iterative method for locating line-groupings using the eigenvectors of the adjacency matrix.

Patent
14 Jul 2000
TL;DR: In this article, line segments are extracted from an object pattern to be evaluated, based on the SEM image data DBL of the pattern, to obtain SEM line segment data DC, the distance by which overlapping patterns deviate from each other is determined and the object pattern is evaluated two-dimensionally; evaluation value data DE obtained thereby is displayed graphically.
Abstract: PROBLEM TO BE SOLVED: To two-dimensionally evaluate the finish of a certain portion of a pattern formed on a wafer. SOLUTION: Line segments are extracted from an object pattern to be evaluated, based on the SEM image data DBL of the pattern, to obtain SEM line segment data DC. Based on CAD line segment figure data DD corresponding to the object pattern and on the SEM line segment data DC, the distance by which overlapping patterns deviate from each other is determined and the object pattern is evaluated two-dimensionally; evaluation value data DE obtained thereby is displayed graphically.

Journal ArticleDOI
TL;DR: The generalized linking number is generalized in a computational way to reflect the spatial relationship between a point and a line segment, an arc, a plane subdivision, a three-dimensional shape, aThree-dimensional object and athree-dimensional space subdivision.

Proceedings ArticleDOI
01 Sep 2000
TL;DR: An algorithm to group edge points into digital line segments with Hough transformation is described, and the robustness of the algorithm implemented on both the generated edges disturbed by different noise levels and real images taken from an indoor environment is shown.
Abstract: An algorithm to group edge points into digital line segments with Hough transformation is described. The edge points are mapped onto the parameter domain discretized at specific intervals, on which peaks appear to represent different line segments. By modeling each peak as a Gaussian function in the parameter domain, a region to which the edge points are supposed to be mapped is determined. Then the edge points are grouped and the parameters for a line segment are computed. For the edges including multiple line segments, a sequential Hough transformation for detecting peaks one by one in the parameter domain is implemented, and the points from the region around each peak are grouped, thus the line segments are described. Experiments show the robustness of the algorithm implemented on both the generated edges disturbed by different noise levels and real images taken from an indoor environment.

01 Jan 2000
TL;DR: In this article, the added value of color information for edge extraction and straight edge segment matching between stereo views is investigated, paying special attention to significance and completeness of the obtained edge-map.
Abstract: This paper investigates into the added value of color information for edge extraction and straight edge segment matching between stereo views. For edge extraction in color images different methods proposed in the literature are evaluated and compared, paying special attention to significance and completeness of the obtained edge-map. To find related edge segment pairs in different views, we apply an odd-man-out scheme: starting with all geometrically possible pairs we first rule out pairs, for which the chromatic information provided by the regions flanking the edge segments is incompatible. To further restrict the number of pairs we compute a chromatic similarity measure based on cross-correlation in the color bands. Both steps result in a significant reduction of candidate pairs, yet no correct pairs get lost. A main application of our technique is for automatic 3D building reconstruction from high resolution aerial images.

Proceedings ArticleDOI
01 Sep 2000
TL;DR: A new Hough transform method for an omnidirectional image by using a cubic Hough space is presented and a method for reconstructing 3D line segments from an omnIDirectional input image sequence obtained by HyperOmni Vision with known motion is described.
Abstract: We (1995) have proposed an omnidirectional image sensor called HyperOmni Vision. This sensor can acquire omnidirectional and perspective images in real time. In this paper we present a new Hough transform method for an omnidirectional image by using a cubic Hough space. Furthermore, we describe a method for reconstructing 3D line segments from an omnidirectional input image sequence obtained by HyperOmni Vision with known motion.