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Proceedings IEEE Workshop on Omnidirectional Vision (Cat. No.PR00704)

12-12 June 2000

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  • Proceedings IEEE Workshop on Omnidirectional Vision (Cat. No.PR00704)

    Publication Year: 2000
    Request permission for commercial reuse | PDF file iconPDF (136 KB)
    Freely Available from IEEE
  • Index of authors

    Publication Year: 2000, Page(s): 175
    Request permission for commercial reuse | PDF file iconPDF (36 KB)
    Freely Available from IEEE
  • Segmentation, tracking and interpretation using panoramic video

    Publication Year: 2000, Page(s):169 - 174
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4392 KB)

    Choosing the appropriate type of video input is an important issue for any vision-based system and the right decision must take into account the specific requirements of the intended application. We present GlobeAll, a modular four-component prototype for a vision-based Intelligent Room: a panoramic video input component that uses an electronic pan-tilt-zoom camera array, a background learning and... View full abstract»

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  • Robust localization using eigenspace of spinning-images

    Publication Year: 2000, Page(s):37 - 44
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (748 KB)

    Under in-plane rotations of a panoramic camera, the information content of a panoramic image is, in general, preserved. However, different representations that can be derived have important implications on further processing, e.g. for appearance-based localisation. We discuss several approaches based on different representations that have been proposed and evaluate them from different points-of-vi... View full abstract»

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  • Complete calibration of a multi-camera network

    Publication Year: 2000, Page(s):134 - 141
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    We describe a calibration procedure for a multi-camera rig. Consider a large number of synchronized cameras arranged in some space, for example, on the walls of a room looking inwards. It is not necessary for all the cameras to have a common field of view, as long as every camera is connected to every other camera through common fields of view. Switching off the lights and waving a wand with an LE... View full abstract»

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

    Publication Year: 2000, Page(s):119 - 126
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (792 KB)

    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 View full abstract»

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  • A new catadioptric sensor for the panoramic vision of mobile robots

    Publication Year: 2000, Page(s):112 - 116
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (564 KB)

    Classical video cameras have a limited field of view that makes them unsuitable for many applications. We present in this paper a new panoramic vision system developed for mobile platforms. This system allows a normal vision on the front, the 360° perception of the environment is completed by a mirror. The system has the advantage of allowing the use of classical methods usually applied to per... View full abstract»

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  • Equivalence of catadioptric projections and mappings of the sphere

    Publication Year: 2000, Page(s):91 - 96
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    In this paper we demonstrate that all single viewpoint catadioptric projections are equivalent to the composition of central projection to the sphere followed by a point projection from the sphere to an image plane. Special cases of this equivalence are parabolic projection, for which the second map is a stereographic projection, and perspective projection, for which the second map is central proj... View full abstract»

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  • Experimental results got with the omnidirectional vision sensor: SYCLOP

    Publication Year: 2000, Page(s):145 - 152
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    In this paper, we present experimental results obtained with the omnidirectional sensor SYCLOP “Conical SYstem for LOcalization and Perception” for localisation of mobile robots. This system, which is able to get a panoramic view of a 2π radian field, is made of a CCD camera and a vertically oriented conic shaped reflector. We give at first a method to calibrate the whole omnidirect... View full abstract»

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  • Acquiring and rendering high-resolution spherical mosaics

    Publication Year: 2000, Page(s):47 - 53
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (11216 KB)

    We describe an acquisition and viewing method for high-resolution, high-dynamic range spherical image mosaics. These mosaics consist of hundreds of high-resolution, high-dynamic-range color images, each annotated with 3-DOF orientation about a common optical center. An automated acquisition platform captures a pre-specified hemispherical tiling of images. Each image is acquired with specified appr... View full abstract»

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  • Omni-directional structure from motion

    Publication Year: 2000, Page(s):127 - 133
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (884 KB)

    In this paper, we describe our work on a robot navigation system using an omnidirectional camera as the primary sensor. An omnidirectional structure from motion algorithm is presented with its uncertainty analyzed. We evaluate the omnidirectional SFM on both synthetic data and on real image sequences. Comparison with the conventional camera is made and we show that in certain situations the omnidi... View full abstract»

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  • A complete panoramic vision system, incorporating imaging, ranging, and three dimensional navigation

    Publication Year: 2000, Page(s):104 - 111
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    A complete panoramic imaging, processing and autonomous navigation stratagem is presented. New techniques for filtering panoramic images are developed to allow rangefinding and image filtering. The technique utilises the motion of the autonomous agent to compute range visually. Using the range data, a safe path through the environment is found. Each stage of processing requires novel approaches to... View full abstract»

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  • Catadioptric sensors that approximate wide-angle perspective projections

    Publication Year: 2000, Page(s):97 - 103
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB)

    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 dif... View full abstract»

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  • Approximating a single viewpoint in panoramic imaging devices

    Publication Year: 2000, Page(s):85 - 90
    Cited by:  Papers (5)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    Recent panoramic cameras present a very wide field of view from a single viewpoint. A single viewpoint is useful in mobile robotics for a number of reasons, including perspective reprojection and stereo analysis. However, the requirement of single viewpoint for panoramic cameras restricts the optical and geometrical design of these devices. In this paper we present a method for approximating a sin... View full abstract»

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  • Real-time target localization and tracking by N-ocular stereo

    Publication Year: 2000, Page(s):153 - 160
    Cited by:  Papers (21)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    In recent years, various practical systems using multiple vision sensors have been proposed. In this paper, as an application of such vision systems, we propose a real-time human tracking system consisting of multiple omnidirectional vision sensors (ODVSs). The system measures people's locations by N-ocular stereo, which is an extension of trinocular stereo, from omnidirectional images taken with ... View full abstract»

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  • Large motion estimation for omnidirectional vision

    Publication Year: 2000, Page(s):161 - 168
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    We present a method for estimating large camera motions, including combinations of large rotations and displacements. We know that translation estimates are improved as the displacements between two camera positions increase. However, there is little work on motion estimation methods targeted at large motions since it is difficult to find correspondences between two planar perspective images under... View full abstract»

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  • Automatic disparity control in stereo panoramas (OmniStereo)

    Publication Year: 2000, Page(s):54 - 61
    Cited by:  Papers (3)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1128 KB)

    An omnistereo panorama consists of a pair of panoramic images, where one panorama is for the left eye, and another panorama is for the right eye. An omnistereo pair provides a stereo sensation up to a full 360 degrees. OmniStereo panoramas can be created by mosaicing images from a rotating video camera, or by specially designed cameras. The stereo sensation is a function of the disparity between t... View full abstract»

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  • Construction of an immersive mixed environment using an omnidirectional stereo image sensor

    Publication Year: 2000, Page(s):62 - 69
    Cited by:  Papers (9)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2728 KB)

    Recently virtual reality (VR) systems have been incorporating rich information available in the real world into VR environments in order to improve their reality. This stream has created the field of mixed reality which seamlessly integrates real and virtual worlds. This paper describes a novel approach to the construction of a mixed environment. The approach is based on capturing the dynamic real... View full abstract»

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  • VideoPlus

    Publication Year: 2000, Page(s):3 - 10
    Cited by:  Papers (12)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1180 KB)

    This paper describes an approach to capturing the appearance and structure of immersive environments based on the video imagery obtained with an omnidirectional camera system. The scheme proceeds by recovering the 3D positions of a set of point and line features in the world from image correspondences in a small set of key frames in the image sequence. Once the locations of these features have bee... View full abstract»

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  • Panoramic image archives for as-built modelling of complex industrial assets

    Publication Year: 2000, Page(s):70 - 75
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2420 KB)

    This paper describes the design of a panoramic digital photogrammetric system dedicated to the production of As-Built documentation for large industrial facilities. Such activities necessitate the acquisition, management and exploitation of very large image archives that attempt to document all the significant features of an industrial structure with sufficient coverage that ad-hoc photogrammetric... View full abstract»

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  • Multi-camera networks: eyes from eyes

    Publication Year: 2000, Page(s):11 - 18
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    Autonomous or semi-autonomous intelligent systems, in order to function appropriately, need to create models of their environment, i.e., models of space time. These are descriptions of objects and scenes and descriptions of changes of space over time, that is, events and actions. Despite the large amount of research on this problem, as a community we are still far from developing robust descriptio... View full abstract»

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  • Omniview cameras with curved surface mirrors

    Publication Year: 2000, Page(s):79 - 84
    Cited by:  Papers (13)  |  Patents (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    Omnidirectional cameras are important for a variety of applications like videoconferencing and robot navigation. This paper discusses several ideas for building such cameras using mirrors with curved surfaces. It turns out that hyperbolic and parabolic mirror profiles are optimally suited for omniviewing View full abstract»

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  • Omni-directional vision for robot navigation

    Publication Year: 2000, Page(s):21 - 28
    Cited by:  Papers (71)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2068 KB)

    We describe a method for visual based robot navigation with a single omni-directional (catadioptic) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot's qualitative global position, estimated from a set of omni-directional imag... View full abstract»

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  • Panoramic virtual stereo vision of cooperative mobile robots for localizing 3D moving objects

    Publication Year: 2000, Page(s):29 - 36
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (872 KB)

    Flexible, reconfigurable vision systems can provide an extremely rich sensing modality for sophisticated multiple robot platforms. We propose a cooperative and adaptive approach of panoramic vision to the problem of finding and protecting humans by a robot team in an emergency circumstance (e.g., a rescue in an office building). A panoramic virtual stereo vision method is proposed for this coopera... View full abstract»

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