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Summary: Accurate Catadioptric Calibration for
Real-time Pose Estimation in Room-size Environments
Daniel G. Aliaga
Lucent Technologies Bell Labs
Murray Hill, NJ 07974
aliaga@bell-labs.com
Abstract
Omnidirectional video cameras are becoming
increasingly popular in computer vision. One family of
these cameras uses a catadioptric system with a
paraboloidal mirror and an orthographic lens to produce
an omnidirectional image with a single center-of-
projection. In this paper, we develop a novel calibration
model that we combine with a beacon-based pose
estimation algorithm. Our approach relaxes the
assumption of an ideal paraboloidal catadioptric system
and achieves an order of magnitude improvement in pose
estimation accuracy compared to calibration with an ideal
camera model. Our complete standalone system, placed on
a radio-controlled motorized cart, moves in a room-size
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