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G.L. Mariottini, S. Scheggi, F. Morbidi, D. Prattichizzo. Catadioptric Stereo with Planar Mirrors: Multiple-View Geometry and Camera Localization. In Visual Servoing via Advanced Numerical Methods, 10.1007/978-1-84996-089-2$\_$1, G. Chesi, K. Hashimoto (eds.), 10.1007/978-1-84996-089-2$\_$1, Vol. 401, pp. 3-21, Lecture Notes in Computer Science, Springer Verlag, April 2010.

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Planar catadioptric stereo (PCS) vision sensors consist of a pinhole camera and two or more planar mirrors. PCS systems have recently received an increasing attention in computer vision and have a promising applicability in robotics, since the use of mirrors allows to obtain a stereo view without the need of exact multi-camera synchronization and stereo calibration. The chapter presents a rigorous analytical treatment of the imaging geometry of PCS sensors and introduce new multiple-view properties that are instrumental in addressing the camera localization problem. Original results on mirror calibration are also provided. Extensive simulation and real-data experiments conducted with an eye-in-hand robot illustrate the theory and show the effectiveness of the proposed designs


[ Vision ]


Domenico Prattichizzo

BibTex Reference

   Author = {Mariottini, G.L. and Scheggi, S. and Morbidi, F. and Prattichizzo, D.},
   Title = {Catadioptric Stereo with Planar Mirrors: Multiple-View Geometry and Camera Localization},
   BookTitle = {Visual Servoing via Advanced Numerical Methods},
   editor = {Chesi, G. and Hashimoto, K.},
   Volume = {401},
   Pages = {3--21},
   Series = {Lecture Notes in Computer Science},
   Publisher = {Springer Verlag},
   Month = {April},
   Year = {2010}

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