Fast dense panoramic stereovision

Jose Joel Gonzalez-Barbosa; Simon Lacroix

doi:10.1109/ROBOT.2005.1570280

Fast dense panoramic stereovision

Jose Joel Gonzalez-Barbosa, Simon Lacroix

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Scopus citations

Abstract

The particular geometry of panoramic cameras defines complex epipolar lines equations. In this paper, we present a way to warp images from a panoramic stereovision bench, so that the epipolar lines become parallel straight lines, thus allowing the use of an optimized fast pixel correlation based stereovision algorithm. The paper first introduces the geometric characterization of panoramic camera composed of parabolic and spherical mirrors, that computes both the intrinsic parameters of the system (mirror surfaces and intrinsic camera parameters) and the errors alignment between the mirrors. Then, it presents the warping equations that allow to generate rectified images. Calibration and stereovision results are presented.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	1210-1215
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570280
State	Published - 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	18/04/05 → 22/04/05

Keywords

Calibration
Epipolar lines
Panoramic images
Stereovision

Access to Document

10.1109/ROBOT.2005.1570280

Cite this

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title = "Fast dense panoramic stereovision",

abstract = "The particular geometry of panoramic cameras defines complex epipolar lines equations. In this paper, we present a way to warp images from a panoramic stereovision bench, so that the epipolar lines become parallel straight lines, thus allowing the use of an optimized fast pixel correlation based stereovision algorithm. The paper first introduces the geometric characterization of panoramic camera composed of parabolic and spherical mirrors, that computes both the intrinsic parameters of the system (mirror surfaces and intrinsic camera parameters) and the errors alignment between the mirrors. Then, it presents the warping equations that allow to generate rectified images. Calibration and stereovision results are presented.",

keywords = "Calibration, Epipolar lines, Panoramic images, Stereovision",

author = "Gonzalez-Barbosa, {Jose Joel} and Simon Lacroix",

year = "2005",

doi = "10.1109/ROBOT.2005.1570280",

language = "Ingl{\'e}s",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "1210--1215",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

}

Gonzalez-Barbosa, JJ & Lacroix, S 2005, Fast dense panoramic stereovision. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570280, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 1210-1215, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18/04/05. https://doi.org/10.1109/ROBOT.2005.1570280

Fast dense panoramic stereovision. / Gonzalez-Barbosa, Jose Joel; Lacroix, Simon.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 1210-1215 1570280 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Gonzalez-Barbosa, Jose Joel

AU - Lacroix, Simon

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N2 - The particular geometry of panoramic cameras defines complex epipolar lines equations. In this paper, we present a way to warp images from a panoramic stereovision bench, so that the epipolar lines become parallel straight lines, thus allowing the use of an optimized fast pixel correlation based stereovision algorithm. The paper first introduces the geometric characterization of panoramic camera composed of parabolic and spherical mirrors, that computes both the intrinsic parameters of the system (mirror surfaces and intrinsic camera parameters) and the errors alignment between the mirrors. Then, it presents the warping equations that allow to generate rectified images. Calibration and stereovision results are presented.

AB - The particular geometry of panoramic cameras defines complex epipolar lines equations. In this paper, we present a way to warp images from a panoramic stereovision bench, so that the epipolar lines become parallel straight lines, thus allowing the use of an optimized fast pixel correlation based stereovision algorithm. The paper first introduces the geometric characterization of panoramic camera composed of parabolic and spherical mirrors, that computes both the intrinsic parameters of the system (mirror surfaces and intrinsic camera parameters) and the errors alignment between the mirrors. Then, it presents the warping equations that allow to generate rectified images. Calibration and stereovision results are presented.

KW - Calibration

KW - Epipolar lines

KW - Panoramic images

KW - Stereovision

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Y2 - 18 April 2005 through 22 April 2005

ER -

Fast dense panoramic stereovision

Abstract

Publication series

Conference

Keywords

Access to Document

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