Numerical Estimation of Epipolar Curves for Omnidirectional Sensors
Estimation Numérique des Courbes Épipolaires pour les Capteurs Omnidirectionnels
OPEN ACCESS
The epipolar geometry of couples of omnidirectional sensors is often difficult to express analytically.We propose an algorithm to estimate numerically epipolar curves from omnidirectional pairs of stereovision.This algorithm is not limited to this type of sensors and works, for example, with a combination of a panoramic sensor and a traditional camera.Although the load of calculation necessary for this algorithm is heavy, it works with every kind of sensor (provided that the stereovision pair is completely calibrated) especially with sensor that do not respect the single viewpoint constraint.
Résumé
La géométrie épipolaire des paires de capteurs omnidirectionnels est souvent difficile à exprimer analytiquement. Nous proposons un algorithme pour estimer numériquement les courbes épipolaires des paires de capteurs omnidirectionnels. Cet algorithme n'est toutefois pas limité à ce type de capteur et fonctionne,par exemple,avec une combinaison d'un capteur panoramique et d'une caméra classique. Bien que la charge de calcul requise soit lourde,cet algorithme a l'avantage de fonctionner avec tous les types de capteurs,si la paire de capteurs est complètement calibrée (tous paramètres déterminés). En particulier l'algorithme est applicable pour les capteurs catadioptriques ne respectant pas la contrainte du foyer de projection unique.
Epipolar geometry, Stereovision, Omnidirectional sensors.
Mots clés
Géométrie épipolaire,Stéréovision,Capteurs omnidirectionnels.
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