Search results for "Omnidirectional camera"
showing 7 items of 7 documents
Omnidirectional vision for UAV: applications to attitude, motion and altitude estimation for day and night conditions
2012
International audience; This paper presents the combined applications of omnidirectional vision featuring on its application to aerial robotics. Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable cho…
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…
Visual tracking with omnidirectional cameras: an efficient approach
2011
International audience; An effective technique for applying visual tracking algorithms to omni- directional image sequences is presented. The method is based on a spherical image representation which allows taking into account the distortions and nonlinear resolution of omnidirectional images. Experimental results show that both deterministic and probabilistic tracking methods can effectively be adapted in order to robustly track an object with an omnidirectional camera.
Design and Calibration of a Specialized Polydioptric Camera Rig
2017
International audience; It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation problems on uneven terrains and detection of the moving objects while the robot is itself in motion are the core problems that omnidirectional systems tackle. The proposed omnidirectional system is a compact and a rigid vision system with dioptric cameras that provide a 360° f…
Extrinsic calibration of heterogeneous cameras by line images
2014
International audience; The extrinsic calibration refers to determining the relative pose of cameras. Most of the approaches for cameras with non-overlapping fields of view (FOV) are based on mirror reflection, object tracking or rigidity constraint of stereo systems whereas cameras with overlapping FOV can be calibrated using structure from motion solutions. We propose an extrinsic calibration method within structure from motion framework for cameras with overlapping FOV and its extension to cameras with partially non-overlapping FOV. Recently, omnidirectional vision has become a popular topic in computer vision as an omnidirectional camera can cover large FOV in one image. Combining the g…
Design and modelling a of bimodal camera system
2021
In computer vision, researchers face a challenging concern due to the limited field of view (FoV) when using standard cameras in capturing scenes. This problem of narrow FoV often encountered within applications that involve tasks which are related to the robot vision. Many authors have attempted, in different approaches, to solve this issue by fusing two cameras. However, they failed to improve the registration and fusing errors, where the obtained results still limited and not accurate enough. To deal with this limitation and decrease these errors, we propose a new method of camera calibration based on Interior-Point Optimisation (IPO) algorithm using transformation matrix estimation. Thi…
A Dataset of Annotated Omnidirectional Videos for Distancing Applications
2021
Omnidirectional (or 360°) cameras are acquisition devices that, in the next few years, could have a big impact on video surveillance applications, research, and industry, as they can record a spherical view of a whole environment from every perspective. This paper presents two new contributions to the research community: the CVIP360 dataset, an annotated dataset of 360° videos for distancing applications, and a new method to estimate the distances of objects in a scene from a single 360° image. The CVIP360 dataset includes 16 videos acquired outdoors and indoors, annotated by adding information about the pedestrians in the scene (bounding boxes) and the distances to the camera of some point…