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Catadioptric sensors that approximate wide-angle perspective projections

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2 Author(s)
R. A. Hicks ; Dept. of Math. & Comput. Sci., Drexel Univ., Philadelphia, PA, USA ; R. Bajcsy

We present two families of reflective surfaces that are capable of providing a wide field of view, and yet still approximate a perspective projection to a high degree. These surfaces are derived by considering a plane perpendicular to the axis of a surface of revolution and finding the equations governing the distortion of the image of the plane in this surface. We then view this relation as a differential equation and prescribe the distortion term to be linear. By choosing appropriate initial conditions for the differential equation and solving it numerically, we derive the surface shape and obtain a precise estimate as to what degree the resulting sensor can approximate a perspective projection. Thus these surfaces act as computational sensors, allowing for a wide-angle perspective view of a scene without processing the image in software. The applications of such a sensor should be numerous, including surveillance, robotics and traditional photography

Published in:

Omnidirectional Vision, 2000. Proceedings. IEEE Workshop on

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