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Planar Catadioptric Stereo: Single and multi-view geometry for calibration and localization

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4 Author(s)
Mariottini, G.L. ; Dept. of Comput. Sci. & Eng., Univ. of Minnesota, Minneapolis, MN, USA ; Scheggi, S. ; Morbidi, F. ; Prattichizzo, D.

Planar catadioptric stereo vision sensors (PCS) combine a pinhole camera with two or more planar mirrors. PCS have recently received an increasing attention since a stereo view can be easily obtained without the need of exact multi-camera synchronization and calibration. In this paper we present a rigorous analytical treatment of the imaging geometry of PCS, propose new mirror calibration algorithms and introduce new multi-view properties that can be used for eye-in-hand camera localization. The effectiveness of the algorithms is shown via extensive simulation and real-data experiments on a robotic manipulator.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009