Fitting 3D Models on Central Catadioptric Images

Increasing the field of view of camera is an important issue practical in robot vision. One solution is to consider catadioptric camera that allows a 360deg field of view. In this paper we propose a 3D model tracking algorithm that allows a fast and reliable tracking of 3D objects within central catadioptric images. The proposed approach relies on the virtual visual servoing approach. All the modeling aspects have been reconsidered to consider the projection model. Results show the method to be robust and efficient.