Ego-motion and omnidirectional cameras

被引：102

作者：

Gluckman, J ^{[1
]}

Nayar, SK ^{[1
]}

机构：

[1] Columbia Univ, Dept Comp Sci, New York, NY 10027 USA

来源：

SIXTH INTERNATIONAL CONFERENCE ON COMPUTER VISION | 1998年

关键词：

D O I：

10.1109/ICCV.1998.710838

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Recent research in image sensors has produced cameras with very large fields of view. An area: of computer vision research which will benefit from this technology is the computation of camera motion (ego-motion) from a sequence of images. Traditional cameras suffer from the problem that the direction of translation may lie outside of the field of view, making the computation of camera motion sensitive to noise. In this paper, rue present a method for the recovery of ego-motion using omnidirectional cameras. Noting the relationship between spherical projection and wide-angle imaging devices, we propose mapping the image velocity vectors to a sphere, using the Jacobian of the transformation between the projection model of the camera and spherical projection. Once the velocity vectors are mapped to a sphere, we show how existing ego-motion algorithms can be applied and present some experimental results. These results demonstrate the ability to compute ego-motion with omnidirectional cameras.

引用

页码：999 / 1005

页数：7