Novel method of space horizontal line localization based on single catadioptric omnidirectional image

Abstract

Space horizontal line localization without prior knowledge from a single omnidirectional image was exploited.Based on the existing approaches of straight line localization,the authors demonstrated that,for symmetric non-central catadioptric systems,the equation of a 3D horizontal line could be estimated using only two points extracted from a single image of the line by exploiting the characteristics of horizontal line image in catadioptric system,and meanwhile a horizontal line reconstruction algorithm based on main-point image and non-main-point image was proposed.The experimental results justify that,under different precision of image point extraction,compared to present approaches of line reconstruction,the proposed method is constantly more efficient.