Abstract
Catadioptric cameras have the advantage of broadening the field of view and revealing otherwise occluded object parts. However, they differ geometrically from standard central perspective cameras because of light reflection from the mirror surface which alters the collinearity relation and introduces severe non-linear distortions of the imaged scene. Accommodating for these features, we present in this paper a novel modeling for pose estimation and reconstruction while imaging through spherical mirrors. We derive a closed-form equivalent to the collinearity principle via which we estimate the system’s parameters. Our model yields a resection-like solution which can be developed into a linear one. We show that accurate estimates can be derived with only a small set of control points. Analysis shows that control configuration in the orientation scheme is rather flexible and that high levels of accuracy can be reached in both pose estimation and mapping. Clearly, the ability to model objects which fall outside of the immediate camera field-of-view offers an appealing means to supplement 3-D reconstruction and modeling.
Highlights
Digital imaging makes photogrammetry relevant for a wide variety of applications
In this paper we propose a novel model for pose estimation and reconstruction while imaging through a spherical mirror
The imaging system consists of a standard pinhole camera and a spherical mirror, where the camera intrinsic parameters are assumed to be calibrated in advance
Summary
Digital imaging makes photogrammetry relevant for a wide variety of applications. Yet, the limited field of view imposes limitations on scene coverage and necessitate acquisition of a large amount of images, even for a modest scenes. The literature shows a broad spectrum of cameras which differ from one another by the mirror shape and their number (Gluckman and Nayar, 2001; Yi and Ahuja, 2006; Lopez-Nicolas and Sagues, 2014; Jeng and Tsai, 2003; Geyer and Daniilidis, 2002; Luo et al, 2007). Such imaging configurations broaden the field of view, but are governed by light reflection from the mirror surface. In this paper we propose a novel model for pose estimation and reconstruction while imaging through a spherical mirror. It offers study of the system geometry and its implications on modeling and accuracy, and provides a viable framework for pose estimation and modeling
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