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Cited by 210

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Ego-motion and omnidirectional cameras

Gluckman, J., Nayar, S.K.·2002·Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271)
DOI 10.1109/iccv.1998.710838
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Abstract

Recent research in image sensors has produced cameras with very large fields of view. An area of computer vision research which will benefit from this technology is the computation of camera motion (ego-motion) from a sequence of images. Traditional cameras suffer from the problem that the direction of translation may lie outside of the field of view, making the computation of camera motion sensitive to noise. In this paper, we present a method for the recovery of ego-motion using omnidirectional cameras. Noting the relationship between spherical projection and wide-angle imaging devices, we propose mapping the image velocity vectors to a sphere, using the Jacobian of the transformation between the projection model of the camera and spherical projection. Once the velocity vectors are mapped to a sphere, we show how existing ego-motion algorithms can be applied and present some experimental results. These results demonstrate the ability to compute egomotion with omnidirectional cameras. 1

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Research works printed but not linked: 26

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Metadata

Authors
Gluckman, J., & Nayar, S. K.
Venue
Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271)
Publisher
Narosa Publishing House
Published
2002-11-27
Pages
999-1005
DOI
10.1109/iccv.1998.710838
OpenAlex
W2086523316
Cited by
210
References
0
FWCI
11.46
Type
conference paper
Language
en
Open access
closed

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Gluckman, J., & Nayar, S. K. (2002). Ego-motion and omnidirectional cameras. Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271). https://doi.org/10.1109/iccv.1998.710838

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