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Motion Estimation Using Central Panoramic Cameras

T. Svoboda, T. Pajdla and V. Hlavac
IEEE International Conference on Intelligent Vehicles
October 1998


This paper addresses the motion estimation from an image sequence taken by a panoramic camera mounted on a mobile robot. We expose how to design panoramic camera with tractable geometry. We combine a perspective camera with a hyperbolic mirror. We show that such camera allow motion estimation in the same way as perspective cameras do. Experiments demonstrate that a motion estimation is better using panoramic camera than perspective camera. We present experiments with a real sensor.

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  author = {T. Svoboda and T. Pajdla and V. Hlav\'a{\v c}},
  title = {Motion Estimation Using Central Panoramic Cameras},
  booktitle = {IEEE International Conference on Intelligent Vehicles},
  year = {1998},
  month = {October},
  pages = {335--340},
  editor = {S. Hahn},
  publisher = {Causal Productions},
  keywords = {omnidirectional vision, epipolar geometry, panoramic cameras, hyperbolic mirror, stereo, catadioptric sensors}