In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the reconstruction is unique. For example, if there are three points in general position and three omni-directional cameras in general position, a unique reconstruction is possible up to a similarity. We then look at the reconstruction problem with m cameras and n points, where n and m can be large and the over-determined system is solved by least square methods. The reconstruction is robust and generalizes to the case of a dynamic environment where landmarks can move during the movie capture. Possible applications of the result are computer assisted scene reconstruction, 3D scanning, autonomous robot navigation, medical tomography and city reconstructions.
@article{arxiv.0708.2442,
title = {Space and camera path reconstruction for omni-directional vision},
author = {Oliver Knill and Jose Ramirez-Herran},
journal= {arXiv preprint arXiv:0708.2442},
year = {2007}
}