Omni-directional stereo

Ishiguro, Hiroshi; Yamamoto, Masao; Tsuji, Saburo

doi:10.1109/34.121792

Cited by 228 publications

(137 citation statements)

References 10 publications

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“…This information is normally essential for robot navigation. Edges were derived by filtering the panoramic images with the Sobel filter for searching the vertical edges [4,5]. We searched only for the correspondences of these feature points on the input panoramic images.…”

Section: Resultsmentioning

confidence: 99%

“…There have been attempts or discussions [5] about it, but nothing has been done in practice so far, at least not by using mosaicing concept, i.e. the multiperspective panoramas.…”

Section: Introductionmentioning

confidence: 99%

“…Generally mosaic-based procedures for building panoramic images [1,2,3] [5,6,7,8,9] can be marked as non-central (we are not dealing with only one center of projection), they do not execute in real time and they give high resolution results. Thus the procedures are not appropriate for capturing dynamic scenes.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Towards a Real Time Panoramic Depth Sensor

Peer

Solina

2003

Computer Analysis of Images and Patterns

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Abstract.Recently we have presented a system for panoramic depth imaging with a single standard camera. One of the problems of such a system is the fact that we cannot generate a stereo pair of images in real time. This paper presents a possible solution to this problem. Based on a new sensor setup simulations were performed to establish the quality of new results in comparison to results obtained with the old sensor setup. The goal of the paper is to reveal whether the new setup can be used for real time capturing of panoramic depth images and consequently for autonomous navigation of a mobile robot in a room.

show abstract

Section: Resultsmentioning

confidence: 99%

“…There have been attempts or discussions [5] about it, but nothing has been done in practice so far, at least not by using mosaicing concept, i.e. the multiperspective panoramas.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Towards a Real Time Panoramic Depth Sensor

Peer

Solina

2003

Computer Analysis of Images and Patterns

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show abstract

“…In previous work, [8] observed that such panoramas capture the range information, although neither epipolar analysis nor dense stereo was provided in [8]. In [21] and [28], it was shown that the only existing epipolar geometry that can be shared by three or more views is the planar epipolar geometry, which is the requirement to produce epipolar plane images (EPI).…”

Section: Introductionmentioning

confidence: 99%

Stereo reconstruction from multiperspective panoramas

Shum

Tang

et al. 2004

IEEE Trans. Pattern Anal. Machine Intell.

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Abstract-A new approach to computing a panoramic (360 degrees) depth map is presented in this paper. Our approach uses a large collection of images taken by a camera whose motion has been constrained to planar concentric circles. We resample regular perspective images to produce a set of multiperspective panoramas and then compute depth maps directly from these resampled panoramas. Our panoramas sample uniformly in three dimensions: rotation angle, inverse radial distance, and vertical elevation. The use of multiperspective panoramas eliminates the limited overlap present in the original input images and, thus, problems as in conventional multibaseline stereo can be avoided. Our approach differs from stereo matching of single-perspective panoramic images taken from different locations, where the epipolar constraints are sine curves. For our multiperspective panoramas, the epipolar geometry, to the first order approximation, consists of horizontal lines. Therefore, any traditional stereo algorithm can be applied to multiperspective panoramas with little modification. In this paper, we describe two reconstruction algorithms. The first is a cylinder sweep algorithm that uses a small number of resampled multiperspective panoramas to obtain dense 3D reconstruction. The second algorithm, in contrast, uses a large number of multiperspective panoramas and takes advantage of the approximate horizontal epipolar geometry inherent in multiperspective panoramas. It comprises a novel and efficient 1D multibaseline matching technique, followed by tensor voting to extract the depth surface. Experiments show that our algorithms are capable of producing comparable high quality depth maps which can be used for applications such as view interpolation.

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“…When images are acquired by unknown camera poses, there is a need to solve camera calibration problem before the image transformations may take place. Up until more recently, the line-camera concept for creating panoramic image mosaics were introduced [9,5,17], in which a sequence of slit (or line) images are used as the base elements instead of the matrix images for composing a panoramic image. Such a panorama is generated by joining together a sequence of line images side by side, and is called line-based panoramic images.…”

Section: Introductionmentioning

confidence: 99%

Stitching and Reconstruction of Linear-Pushbroom Panoramic Images for Planar Scenes

Chen

Huang

2004

Lecture Notes in Computer Science

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Abstract. This paper proposes a method to integrate multiple linearpushbroom panoramic images. The integration can be performed in real time. The technique is feasible on planar scene such as large-scale paintings or aerial/satellite images that are considered to be planar. The image integration consists of two steps: stitching and Euclidean reconstruction. For the image stitching, a minimum of five pairs of noncollinear image corresponding points are required in general cases. In some special configurations when there is column-to-column image correspondence between two panoramas, the number of image corresponding points required can be reduced to three. As for the Euclidean reconstruction, five pairs of non-collinear image corresponding points on the image boundaries are sufficient.

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Omni-directional stereo

Cited by 228 publications

References 10 publications

Towards a Real Time Panoramic Depth Sensor

Towards a Real Time Panoramic Depth Sensor

Stereo reconstruction from multiperspective panoramas

Stitching and Reconstruction of Linear-Pushbroom Panoramic Images for Planar Scenes

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