6533b85cfe1ef96bd12bd10a

RESEARCH PRODUCT

Estimation de mouvement d'un système stéréoscopique hybride à partir des droites

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description

We present a motion estimation approach for hybrid stereo rigs using line images. The proposed method can be applied to a hybrid system built up from any single view point (SVP) cameras such as perspective, central catadioptric and fisheye cameras. Such configuration combines advantageous characteristics of different types of cameras. Images captured by SVP imaging devices may be mapped to spherical images using the unified projection model. It is possible to recover the camera orientations using vanishing points of parallel line sets. We then estimate the translations from known rotations and line images on the spheres. The algorithm has been validated on simulated data and real images taken from a perspective-fisheye stereo rig and two para-catdioptric stereo rig.This vision-based estimation method can be employed in navigation of autonomous robots besides conventional devices such as Global Positioning System (GPS) and Inertial Navigation System (INS). It helps vision-based localization of robots equiped with stereo vision systems.