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Catadioptric stereo

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  1. 1. Epipolar geometry of catadioptric stereo system
  2. 2. Epipolar geometry of catadioptric stereo system Catoptric() + dioptric() = catadioptric - - -fov (Southwell et al and Cabral et al)
  3. 3. Epipolar geometry of catadioptric stereo system - structure -: - 1981 (H.C. Longuet-Higgins, A computer algorithm for reconstructing a scene from two projections, Nature 293 (1981)) - - PF
  4. 4. Epipolar geometry of catadioptric stereo system - -F(Zhang and Xu) - p ( )
  5. 5. Epipolar geometry of catadioptric stereo system (planar catadioptric stereo system)pcs: - pcs - Gluckman and Nayar - F6 Gluckman and Nayar - J. Gluckman, S.K. Nayar, Catadioptric stereo using planar mirrors, International Journal of Computer Vision 44 (1) (2001) 6579. - J. Gluckman, S.K. Nayar, A real-time catadioptric stereo system using planar mirrors, in: Proceedings of the 1998 DARPA Image Understanding Workshop,1998, pp. 309313.
  6. 6. Epipolar geometry of catadioptric stereo system cs: a. A. Goshtasby, W.A. Gruver, Design of a single-lens stereo camera system,Pattern Recognition 26 (1993) b. Gluckman, S.K. Nayar, Catadioptric stereo using planar mirrors, International Journal of Computer Vision (2001) c. M. Inaba, T. Hara, H. Inoue, A stereo viewer based on a Single camera with view-control mechanism, in: Proceedings of International Conference on Robots and Systems, 1993. -cs
  7. 7. Epipolar geometry of catadioptric stereo system pcs realvisual:
  8. 8. Epipolar geometry of catadioptric stereo system pcs visual:
  9. 9. Epipolar geometry of catadioptric stereo system - - Gluckman and Nayar FPCS -F6 ( ) - (x-z) - :-M1//M2, M3//M4 M2, M3 rectify.
  10. 10. Epipolar geometry of catadioptric stereo system - - 5 . - 4 - y. -R , - - 0 = x= y
  11. 11. Epipolar geometry of catadioptric stereo system :rank(F)