Modeling Omnidirectional Vision Systems (original) (raw)

SpringerBriefs in Computer Science, 2013

Abstract

In this chapter, different types of omnidirectional systems are briefly introduced. Then, we focus on the central catadioptric systems and the model used to deal with this type of systems, the so-called sphere camera model. The projection of points and lines under this model are also explained as well as the relation between this model and the actual catadioptric systems. Later, we introduce the lifted coordinates, which is a tool used to deal with the non linearities present on the sphere camera model. We show two different forms to compute them. The former makes use of the G operator and the latter one uses symmetric matrix equations. Finally, a useful representation of catadioptric systems as Riemannian manifolds is presented.

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