Automatic Conic and Line Grouping for Calibration of Central Catadioptric Camera

2011 ◽  
pp. 68-75
Author(s):  
Wenting Duan ◽  
Nigel M. Allinson
Keyword(s):  
Catadioptric Camera

scholarly journals Self-Localization of Mobile Robots Using a Single Catadioptric Camera with Line Feature Extraction

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4719
Author(s):  
Huei-Yung Lin ◽  
Yuan-Chi Chung ◽  
Ming-Liang Wang
Keyword(s):  
Mobile Robots ◽  
Ground Plane ◽  
Feature Correspondence ◽  
Projection Model ◽  
3D Space ◽  
Base Points ◽  
Real Scene ◽  
Correspondence Matching ◽  
Mobile Robot Localization ◽  
Catadioptric Camera

This paper presents a novel self-localization technique for mobile robots using a central catadioptric camera. A unified sphere model for the image projection is derived by the catadioptric camera calibration. The geometric property of the camera projection model is utilized to obtain the intersections of the vertical lines and ground plane in the scene. Different from the conventional stereo vision techniques, the feature points are projected onto a known planar surface, and the plane equation is used for depth computation. The 3D coordinates of the base points on the ground are calculated using the consecutive image frames. The derivation of motion trajectory is then carried out based on the computation of rotation and translation between the robot positions. We develop an algorithm for feature correspondence matching based on the invariability of the structure in the 3D space. The experimental results obtained using the real scene images have demonstrated the feasibility of the proposed method for mobile robot localization applications.

scholarly journals Image-based Control of a UGV in an Orchard using a Central Catadioptric Camera

2011 ◽  
Vol 29 (9) ◽  
pp. 857-866 ◽  
Author(s):  
Junpei Nagata ◽  
Kosuke Kaida ◽  
Keita Kurashiki ◽  
Takanori Fukao ◽  
Kenji Ishiyama ◽  
...  
Keyword(s):  
Catadioptric Camera

scholarly journals Self-calibration for a non-central catadioptric camera with approximate epipolar geometry

2014 ◽  
Vol 25 (8) ◽  
pp. 085005 ◽  
Author(s):  
Zhiyu Xiang ◽  
Xing Dai ◽  
Yanbing Zhou ◽  
Xiaojin Gong
Keyword(s):  
Epipolar Geometry ◽  
Self Calibration ◽  
Catadioptric Camera

Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera

2006 ◽  
pp. 159-170
Author(s):  
Gian Luca Mariottini ◽  
Domenico Prattichizzo ◽  
Andrea Cerbella
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Catadioptric Camera

scholarly journals Relating vanishing points to catadioptric camera calibration

2013 ◽  
Author(s):  
Wenting Duan ◽  
Hui Zhang ◽  
Nigel M. Allinson
Keyword(s):  
Camera Calibration ◽  
Vanishing Points ◽  
Catadioptric Camera
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