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Image distortion correction is a critical pre-processing step for a variety of computer vision and image processing algorithms. Standard real-time software implementations are generally not suited for direct hardware porting, so…
In this paper, we deal with the problem of monocular depth estimation for fisheye cameras in a self-supervised manner. A known issue of self-supervised depth estimation is that it suffers in low-light/over-exposure conditions and in large…
We propose a novel 3D human pose detector using two panoramic cameras. We show that transforming fisheye perspectives to rectilinear views allows a direct application of two-dimensional deep-learning pose estimation methods, without the…
Capturing large fields of view with only one camera is an important aspect in surveillance and automotive applications, but the wide-angle fisheye imagery thus obtained exhibits very special characteristics that may not be very well suited…
Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…
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…
In classical computer vision, rectification is an integral part of multi-view depth estimation. It typically includes epipolar rectification and lens distortion correction. This process simplifies the depth estimation significantly, and…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…
Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and…
This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…
We propose an end-to-end deep learning approach to rectify fisheye images and simultaneously calibrate camera intrinsic and distortion parameters. Our method consists of two parts: a Quick Image Rectification Module developed with a Pix2Pix…
In video surveillance as well as automotive applications, so-called fisheye cameras are often employed to capture a very wide angle of view. As such cameras depend on projections quite different from the classical perspective projection,…
In fisheye images, rich distinct distortion patterns are regularly distributed in the image plane. These distortion patterns are independent of the visual content and provide informative cues for rectification. To make the best of such…
This study derives analytical expressions for the depth and range error of fisheye stereo vision systems as a function of object distance, specifically accounting for accuracy at large angles.
Accurate calibration of camera intrinsic parameters is crucial to various computer vision-based applications in the fields of intelligent systems, autonomous vehicles, etc. However, existing calibration schemes are incompetent for finding…
This paper proposes a robust localization system that employs deep learning for better scene representation, and enhances the accuracy of 6-DOF camera pose estimation. Inspired by the fact that global scene structure can be revealed by wide…
Monocular depth predictors are typically trained on large-scale training sets which are naturally biased w.r.t the distribution of camera poses. As a result, trained predictors fail to make reliable depth predictions for testing examples…
Underwater images are degraded by the selective attenuation of light that distorts colours and reduces contrast. The degradation extent depends on the water type, the distance between an object and the camera, and the depth under the water…
Surround-view fisheye cameras are commonly used for near-field sensing in automated driving. Four fisheye cameras on four sides of the vehicle are sufficient to cover 360{\deg} around the vehicle capturing the entire near-field region. Some…
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.…