Recent panoramic cameras present a very wide field of view from a single viewpoint. A single viewpoint is useful in mobile robotics for a number of reasons, including perspective reprojection and stereo analysis. However, the requirement of single viewpoint for panoramic cameras restricts the optical and geometrical design of these devices. In this paper we present a method for approximating a single viewpoint in panoramic devices that allows much greater freedom in design. We illustrate the method with a compact catadioptric device using a spherical mirror and standard optics, and apply it to perspective reprojection. The resultant panoramic camera has been integrated as a surveillance device on a small mobile robot.


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    Title :

    Approximating a single viewpoint in panoramic imaging devices


    Contributors:
    Derrien, S. (author) / Konolige, K. (author)


    Publication date :

    2000-01-01


    Size :

    287755 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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