Generation and Quality Evaluation of a 360-degree View from Dual Fisheye Images

María Flores, David Valiente, Juan Cabrera, Oscar Reinoso, Luis Payá

2022

Abstract

360-degree views are beneficial in robotic tasks because they provide a compact view of the whole scenario. Among the different vision systems to generate this image, we use a back-to-back pair of fisheye lens cameras by Garmin (VIRB 360). The objectives of this work are twofold: generating a high-quality 360-degree view using different algorithms and performing an analytic evaluation. To provide a consistent evaluation and comparison of algorithms, we propose an automatic method that determines the similarity of the overlapping area of the generated views as regards a reference image, in terms of a global descriptor. These descriptors are obtained from one of the Convolutional Neural Network layers. As a result, the study reveals that an accurate stitching process can be achieved when a high number of feature points are detected and uniformly distributed in the overlapping area. In this case, the 360-degree view generated by the algorithm which employs the camera model provides more efficient stitching than the algorithm which considers the angular fisheye projection. This outcome demonstrates the wrong effects of the fisheye projection, which presents high distortion in the top and bottom parts. Likewise, both algorithms have been also compared with the view generated by the camera.

Paper Citation

in Harvard Style

Flores M., Valiente D., Cabrera J., Reinoso O. and Payá L. (2022). Generation and Quality Evaluation of a 360-degree View from Dual Fisheye Images. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 434-442. DOI: 10.5220/0011275900003271

in Bibtex Style

@conference{icinco22,
author={María Flores and David Valiente and Juan Cabrera and Oscar Reinoso and Luis Payá},
title={Generation and Quality Evaluation of a 360-degree View from Dual Fisheye Images},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={434-442},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011275900003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Generation and Quality Evaluation of a 360-degree View from Dual Fisheye Images
SN - 978-989-758-585-2
AU - Flores M.
AU - Valiente D.
AU - Cabrera J.
AU - Reinoso O.
AU - Payá L.
PY - 2022
SP - 434
EP - 442
DO - 10.5220/0011275900003271