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Central catadioptric omnidirectional images exhibit serious nonlinear distortions due to the involved quadratic mirrors. Therefore, features based on the conventional pin-hole model are hard to achieve satisfactory performances when directly applied to the distorted omnidirectional images. This paper analyzes the catadioptric geometry to facilitate modeling the nonlinear distortions of omnidirectional...
Shape descriptor plays important role in model based subject (object or motion) recognition. A difficulty is that the projected views of the same subject may vary with respect to the changes of viewpoint (camera pose). Therefore, viewpoint invariant descriptors are desired. To this end, many geometric invariants based projective invariants have been studied. However, it is rather hard to use most...
Motion trajectory modeling plays important role in characterizing human or robot action and behavior. However, effective and capable descriptors are lacking that can fully depict space trajectories. In this paper, we propose a novel signature mechanism for free form trajectory modeling in Euclidean space. The signature admits rich invariants due to the computational locality. By implementing the approximate...
For omnidirectional cameras, most of the previous calibration methods from lines use conic fitting. This paper presents a calibration method for para-catadioptric-like cameras from lines without conic fitting under a single view. We establish equations on the five camera intrinsic parameters. These equations are linear for the focal lengths and skew factor once the principal point is known. The principal...
In this paper, a new visual positioning method based on corresponding points at two adjacent views is developed for mobile robots. A camera is mounted on a wheeled mobile robot with nonholonomic constraints. The camera whose intrinsic parameters are well calibrated can rotate around an axis perpendicular to the ground plane. The relative orientation and scaled position offsets of the mobile robot...
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