Evaluation of 3D Analysis Error Caused by SVP Approximation of Fisheye Lens

Nobuyuki Kita

Abstract

We have been doing research about visual SLAM, 3D measurements and robot controls by using images obtained through fisheye lenses. Though fisheye lens is non-single viewpoint (NSVP), we established the 3D analysis methods based on single viewpoint (SVP) model. In this paper, we call such substitution SVP for NSVP as “SVP approximation” and evaluate 3D analysis errors caused by the SVP approximation in the case using two different types of fisheye lenses.

References

  1. Kita, Nobuyuki, 2008. Improvements of MonoSLAM performance by Wide Angle of View. DIA2008, O2-2 (in Japanese).
  2. Kita, Nobuyuki, 2012. 3D Shape Measurement of a Large Cloth close to a Fisheye Stereo, IEEE/SICE International Symposium on System Integration, 895- 900.
  3. Kita, Nobuyuki, 2011a. Direct floor height measurement for biped walking robot by fisheye stereo, 11th IEEERAS International Conference on Humanoid Robots, 187-192.
  4. Kita, Nobuyuki, 2013. Obstacle Detection for a Bipedal Walking Robot by a Fisheye Stereo, IEEE/SICE International Symposium on System Integration, 119- 125.
  5. Abraham, Steffen, and Förstner, Wolfgang, 2005. Fisheye-stereo calibration and epipolar rectification, ISPRS Journal of Photogrammetry and Remote Sensing, vol. 59, pp. 278-288.
  6. Schwalbe, E., 2005. Geometric modelling and calibration of fisheye lens camera systems, 2nd Panoramic Photogrammetry Workshop.
  7. Gennery, B., Donald, 2006. Generalized Camera Calibration Including Fish-Eye Lenses. International Journal of Computer Vision 68(3), 239-266.
  8. Ramalingam, Srikmar, Sturm, Peter, and Lodha, K., Suresh, 2006. Theory and Calibration for Axial Cameras. Asian Conference on Computer Vision, 704-713.
  9. Kita, Nobuyuki, 2011b. Dense 3D Measurement of the Near Surroundings by Fisheye Stereo, IAPR Conference on Machine Vision Applications, 148- 151.
  10. Bradski, Gary, and Kaehler, Adrian, 2008. Learning OpenCV.
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Paper Citation


in Harvard Style

Kita N. (2015). Evaluation of 3D Analysis Error Caused by SVP Approximation of Fisheye Lens . In Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015) ISBN 978-989-758-091-8, pages 357-368. DOI: 10.5220/0005317403570368


in Bibtex Style

@conference{visapp15,
author={Nobuyuki Kita},
title={Evaluation of 3D Analysis Error Caused by SVP Approximation of Fisheye Lens},
booktitle={Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015)},
year={2015},
pages={357-368},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005317403570368},
isbn={978-989-758-091-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015)
TI - Evaluation of 3D Analysis Error Caused by SVP Approximation of Fisheye Lens
SN - 978-989-758-091-8
AU - Kita N.
PY - 2015
SP - 357
EP - 368
DO - 10.5220/0005317403570368