HYBRID MATCHING OF UNCALIBRATED OMNIDIRECTIONAL AND PERSPECTIVE IMAGES

Luis Puig, J. J. Guerrero, Peter Sturm

Abstract

This work presents an automatic hybrid matching of central catadioptric and perspective images. It is based on the hybrid epipolar geometry. The goal is to obtain correspondences between an omnidirectional image and a conventional perspective image taken from different points of view. Mixing both kind of images has multiple applications, since an omnidirectional image captures many information and perspective images are the simplest way of acquisition. Scale invariant features with a simple unwrapping are considered to help the initial putative matching. Then a robust technique gives an estimation of the hybrid fundamental matrix, to avoid outliers. Experimental results with real image pairs show the feasibility of that hybrid and difficult matching problem.

References

  1. Barreto, J. P. and Daniilidis, K. (2006). Epipolar geometry of central projection systems using veronese maps.
  2. In CVPR 7806: Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pages 1258-1265, Washington, DC, USA. IEEE Computer Society.
  3. Chen, D. and Yang, J. (2005). Image registration with uncalibrated cameras in hybrid vision systems. In WACV/MOTION, pages 427-432.
  4. Hartley, R. I. and Zisserman, A. (2000). Multiple View Geometry in Computer Vision. Cambridge University Press, ISBN: 0521623049.
  5. Lowe, D. (2004). Distinctive image features from scaleinvariant keypoints. In International Journal of Computer Vision, volume 20, pages 91-110.
  6. Menem, M. and Pajdla, T. (2004). Constraints on perspective images and circular panoramas. In Andreas, H., Barman, S., and Ellis, T., editors, BMVC 2004: Proceedings of the 15th British Machine Vision Conference, London, UK. BMVA, British Machine Vision Association.
  7. Murillo, A. C., Guerrero, J. J., and Sagües, C. (2007). Surf features for efficient robot localization with omnidirectional images. In 2007 IEEE International Conference on Robotics and Automatio, Roma.
  8. Sturm, P. (2002). Mixing catadioptric and perspective cameras. In Workshop on Omnidirectional Vision, Copenhagen, Denmark, pages 37-44.
  9. Sturm, P. and Gargallo, P. (2007). Conic fitting using the geometric distance. In Proceedings of the Asian Conference on Computer Vision, Tokyo, Japan. Springer.
  10. Svoboda, T. and Pajdla, T. (2002). Epipolar geometry for central catadioptric cameras. Int. J. Comput. Vision, 49(1):23-37.
Download


Paper Citation


in Harvard Style

Puig L., J. Guerrero J. and Sturm P. (2008). HYBRID MATCHING OF UNCALIBRATED OMNIDIRECTIONAL AND PERSPECTIVE IMAGES . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 125-128. DOI: 10.5220/0001494901250128


in Bibtex Style

@conference{icinco08,
author={Luis Puig and J. J. Guerrero and Peter Sturm},
title={HYBRID MATCHING OF UNCALIBRATED OMNIDIRECTIONAL AND PERSPECTIVE IMAGES},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={125-128},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001494901250128},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - HYBRID MATCHING OF UNCALIBRATED OMNIDIRECTIONAL AND PERSPECTIVE IMAGES
SN - 978-989-8111-31-9
AU - Puig L.
AU - J. Guerrero J.
AU - Sturm P.
PY - 2008
SP - 125
EP - 128
DO - 10.5220/0001494901250128