Related papers: Direct Triangulation with Spherical Projection for…
For decades, it has been widely accepted that the gold standard for two-view triangulation is to minimize the cost based on reprojection errors. In this work, we challenge this idea. We propose a novel alternative to the classic midpoint…
In this paper, we study closed-form optimal solutions to two-view triangulation with known internal calibration and pose. By formulating the triangulation problem as $L_1$ and $L_\infty$ minimization of angular reprojection errors, we…
Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…
Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…
Omnidirectional cameras are widely used in such areas as robotics and virtual reality as they provide a wide field of view. Their images are often processed with classical methods, which might unfortunately lead to non-optimal solutions as…
One of the intuitive instruction methods in robot navigation is a pointing gesture. In this study, we propose a method using an omnidirectional camera to eliminate the user/object position constraint and the left/right constraint of the…
This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…
The Perspective-Three-Point Problem (P3P) is solved by first focusing on determining the directions of the lines through pairs of control points, relative to the camera, rather than the distances from the camera to the control points. The…
Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…
Omnidirectional (360{\deg}) video has got quite popular because it provides a highly immersive viewing experience. For computer vision algorithms, it poses several challenges, like the special (equirectangular) projection commonly employed…
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…
Under conditions that prevent tangential intersection, we prove quadratic convergence of a projection algorithm for the feasibility problem of finding a point in the intersection of a smooth curve and line in $\mathbb{R}^2$. This nonconvex…
We introduce a new type of lens that focuses a plane wave into a spherical one, where light comes from all directions. Our method also suggests the design of ideal optical tweezers or, in the reverse direction, photo-detection of nearly all…
Omnidirectional cameras are extensively used in various applications to provide a wide field of vision. However, they face a challenge in synthesizing novel views due to the inevitable presence of dynamic objects, including the…
Despite the increasing prevalence of rotating-style capture (e.g., surveillance cameras), conventional stereo rectification techniques frequently fail due to the rotation-dominant motion and small baseline between views. In this paper, we…
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye…
Accurately calibrating light field camera is essential to its applications. Rapid progress has been made in this area in the past decades. In this paper, detailed analysis was first performed towards the state of the art projection models…
We introduce a visual motion segmentation method employing spherical geometry for fisheye cameras and automoated driving. Three commonly used geometric constraints in pin-hole imagery (the positive height, positive depth and epipolar…
360-degree cameras streamline data collection for radiance field 3D reconstruction by capturing comprehensive scene data. However, traditional radiance field methods do not address the specific challenges inherent to 360-degree images. We…
Nonlinear lens distortion rectification is a common first step in image processing applications where the assumption of a linear camera model is essential. For rectifying the lens distortion, forward distortion model needs to be known.…