Search results for "Catadioptric system"
showing 10 items of 10 documents
Visual contact with catadioptric cameras
2015
Abstract Time to contact or time to collision (TTC) is utmost important information for animals as well as for mobile robots because it enables them to avoid obstacles; it is a convenient way to analyze the surrounding environment. The problem of TTC estimation is largely discussed in perspective images. Although a lot of works have shown the interest of omnidirectional camera for robotic applications such as localization, motion, monitoring, few works use omnidirectional images to compute the TTC. In this paper, we show that TTC can be also estimated on catadioptric images. We present two approaches for TTC estimation using directly or indirectly the optical flow based on de-rotation strat…
Central catadioptric image processing with geodesic metric
2011
International audience; Because of the distortions produced by the insertion of a mirror, catadioptric images cannot be processed similarly to classical perspective images. Now, although the equivalence between such images and spherical images is well known, the use of spherical harmonic analysis often leads to image processing methods which are more difficult to implement. In this paper, we propose to define catadioptric image processing from the geodesic metric on the unitary sphere. We show that this definition allows to adapt very simply classical image processing methods. We focus more particularly on image gradient estimation, interest point detection, and matching. More generally, th…
Fast Earth Mover's Distance Computation for Catadioptric Image Sequences
2016
International audience; Earth mover's distance is one of the most effective metric for comparing histograms in various image retrieval applications. The main drawback is its computational complexity which hinders its usage in various comparison tasks. We propose fast earth mover's distance computation by providing better initialization to the transportation simplex algorithm. The new approach enables faster EMD computation in Visual Memory (VM) compared to the state of the art methods. The new proposed strategy computes earth mover distance without compromising its accuracy.
Gradient-based time to contact on paracatadioptric camera
2013
International audience; The problem of time to contact or time to collision (TTC) estimation is largely discussed in perspective images. However, a few works have dealt with images of catadioptric sensors despite of their utility in robotics applications. The objective of this paper is to develop a novel model for estimating TTC with catadioptric images relative to a planar surface, and to demonstrate that TTC can be estimated only with derivative brightness and image coordinates. This model, called "gradient based time to contact", does not need high processing such as explicit estimation of optical flow and feature detection/or tracking. The proposed method allows to estimate TTC and give…
Tracking Moving Objects With a Catadioptric Sensor Using Particle Filter
2011
International audience; Visual tracking in video sequences is a widely developed topic in computer vision applications. However, the emergence of panoramic vision using catadioptric sensors has created the need for new approaches in order to track an object in this type of images. Indeed the non-linear resolution and the geometric distortions due to the insertion of the mirror, make tracking in catadioptric images a very challenging task. This paper describes particle filter for tracking moving object over time using a catadioptric sensor. In this work different problems due to the specificities of the catadioptric systems such as geometry are considered. The obtained results demonstrate an…
Attitude estimation from polarimetric cameras
2018
International audience; In the robotic field, navigation and path planning applications benefit from a wide range of visual systems (e.g. perspective cameras, depth cameras, catadioptric cameras, etc.). In outdoor conditions, these systems capture information in which sky regions cover a major segment of the images acquired. However, sky regions are discarded and are not considered as visual cue in vision applications. In this paper, we propose to estimate attitude of Unmanned Aerial Vehicle (UAV) from sky information using a polarimetric camera. Theoretically , we provide a framework estimating the attitude from the skylight polarized patterns. We showcase this formulation on both simulate…
Short baseline line matching for central imaging systems
2012
We develop a generic line matching method especially applicable to omnidirectional images taken from constructed scenes with short baseline motion where the motion of the imaging system between two views is mainly an arbitrary rotation and the translation of the camera between two views with respect to its distance to the imaged scene is negligible. We start by studying the relationship between images of lines on unitary sphere followed by proposing a simple algorithm for simultaneously matching vanishing points and lines. The developed algorithm is very simple, yet it works on images captured by all types of central imaging systems, including perspective, fish-eye and catadioptric images. …
A Generic Method of Line Matching for Central Imaging Systems under Short-Baseline Motion
2009
Line matching across images taken by a central imaging system (perspective or catadioptric) with focus on short baseline motion of the system is proposed. The relationship between images of lines on unitary sphere is studied and a simple algorithm for matching lines are proposed assuming the rotation of the system is known apriori or it can be estimated from some correspondences in two views. Two methods are discussed for retrieving R in the case it is not known apriori. Experimental results on both synthetic and real images are also presented.
Adapted processing of catadioptric images using polarization imaging
2009
A non parametric method that defines a pixel neighborhood within catadioptric images is presented in this paper. It is based on an accurate modeling of the mirror shape by using polarization imaging. Unlike the most of current processing methods in the literature, this method is non-parametric and can deal with the deformation of catadioptric images. This paper demonstrates how an appropriate neighborhood can be derived from the polarization parameters by estimation of the degree of polarization and the angle of polarization which in return directly provide an adapted neighborhood of each pixel that can be used to perform image derivation, edge detection, interest point detection and namely…
Measurement of three-dimensional mirror parameters by polarization imaging applied to catadioptric camera calibration
2008
International audience; We present a new efficient method for calibration of cata- dioptric sensors. The method is based on an accurate measurement of the three-dimensional parameters of the mirror through polariza- tion imaging. While inserting a rotating polarizer between the cam- era and the mirror, the system is automatically calibrated without any calibration patterns. Moreover, this method permits most of the constraints related to the calibration of catadioptric systems to be relaxed. We show that, contrary to our system, the traditional meth- ods of calibration are very sensitive to misalignment of the camera axis and the symmetry axis of the mirror. From the measurement of three-di…