Publication
Structure from Motion using full spherical panoramic cameras
Alain Pagani; Didier Stricker
In: Proceedings of the 11th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras. Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OMNIVIS-2011), November 6-13, Barcelona, Spain, IEEE, 11/2011.
Abstract
In this paper, we investigate the use of full spherical
panoramic images for Structure from Motion (SFM) algorithms.
We introduce several error models for solving the
pose problem and the relative pose problem for central projection
cameras, and study the effect of these models on the
convergence in the algorithm’s optimization steps. We formulate
our method using a spherical imaging model, that
covers all central projection cameras, including catadioptric
and dioptric systems, as well as the standard projective
pinhole camera. We use this error formulation in a Structure
from Motion pipeline with full spherical panoramic
cameras.