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Autonomous navigation and recognition of the environment are fundamental abilities for people extensively studied in computer vision and robotics fields. Expansion of low cost wearable sensing provides interesting opportunities for assistance systems that augment people navigation and recognition capabilities. This work presents our wearable omnidirectional vision system and a novel two-phase localization...
In central catadioptric systems the 3D lines are projected into conics, actually degenerate conics. In this paper we present a new approach to extract the projected lines corresponding to straight lines in the scene and to compute vanishing points from them. Using the internal calibration and two image points we are able to compute the catadioptric image lines analytically. We exploit the presence...
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