A method for 3D reconstruction of piecewise planar objects from single panoramic images

We present an approach for 3D reconstruction of objects from a single panoramic image. Obviously, constraints on the 3D structure are needed to perform this task. Our approach is based on user-provided coplanarity, perpendicularity and parallelism constraints. The method is described in detail for the case of a parabolic mirror-based omnidirectional sensor and results are provided.