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, Avril 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 ]
@InCollection{MaScMoPr_springer09,
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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