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题名: Implementation of spherical mirror based panoramic vision
作者: Wang P(王鹏) ; Dong ZL(董再励) ; Sun MX(孙茂相)
作者部门: 机器人学研究室
会议名称: 5th International Symposium on Instrumentation and Control Technology
会议日期: October 24-27, 2003
会议地点: BEIJING, China
会议主办者: Natl Nat Sci Fdn China, Chinese Soc Aeronaut & Astronaut, China Instrument & Control Soc, Chinese Soc Astronaut, Chinese Assoc Automat, SPIE, Beijing Univ Aeronaut & Astronaut, Univ Paderborn, Univ Essen, Hiroshima Shudo Univ, Pusan Natl Univ
会议录: FIFTH INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION AND CONTROL TECHNOLOGY
会议录出版者: SPIE-INT SOC OPTICAL ENGINEERING
会议录出版地: BELLINGHAM
出版日期: 2003
页码: 187-190
收录类别: CPCI(ISTP) ; EI
ISSN号: 0277-786X
ISBN号: 0-8194-5137-1
关键词: omnidirectional camera ; spherical mirror ; image reconstruction ; panoramic vision
摘要: Omnidirectional camera is able to obtain 360 degree images of surrounding environment directly. These images contain the abundant information. And this equipment has no any revolver. It is a new scientific research focus of vision techniques. This technology has widely applied prospects in scientific research, community service, industry and military field. In order to get a widely visual scope, curved surface mirror are usually adopted as image collector. Especially the spherical and the hyperbolic mirror are in common. But the observed images were severely distorted (warping). For analyzing and explaining the images correctly, resumption for reconstruction of distorted visual images has to be done. This paper presents the implementation of an omnidirectional camera combining spherical mirror with regular lens. And there are some comparisons of the spherical mirror with the hyperbolic one. The hyperboloid imaged by a standard perspective camera does have a single viewpoint (SVP). But the spheroid imaged by a perspective camera does not have a single viewpoint. This paper settles this drawback by showing how to construct approximately correct single viewpoints in spherical system. This construction is called to be the iso-angle method. Using a mathematical method for approximating a single viewpoint and an iso-angle mapping, a SVP device can be constructed under these conditions. This paper also introduces the principle and structure of omnidirectional camera. In particular, the algorithm of omnidirectional image warping and the experimental results are also discussed.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8737
Appears in Collections:机器人学研究室_会议论文

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