Introduction to the Catadioptric Panoramic Vision
Introduction à la Vision Panoramique Catadioptrique
OPEN ACCESS
Increase the field of view of vision systems in order to obtain panoramic (omnidirectional) images is the objective of the omnidirectional vision.Many solutions have been imagined and the catadioptric approach holds a privileged place. Many applications,in particular in mobile robotics,have proved the benefits of this artificial visual perception approach. They also raised a multitude of theoretical and practical questions. After an "empirical" period for the design of these cameras,numerous works have dealt with the geometrical and optical formalization and modelling.The objective of this paper is to introduce the omnidirectional vision and to give a fast outline of the existing geometrical models and calibration methods in order to make easier the reading of the articles proposed in this journal.The papers published here will be referred,when it is necessary,to locate them in comparison with the used geometrical models.
Résumé
Augmenter le champ de vue des systèmes de vision pour le rendre panoramique,voire omnidirectionnel,tel est l’objectif de la vision omnidirectionnelle. Plusieurs solutions ont été imaginées pour y arriver parmi lesquelles l’approche catadioptrique tient une place privilégiée. Beaucoup d’applications,notamment en robotique mobile,ont prouvé l’intérêt de cette approche de la perception visuelle artificielle. Elles ont aussi soulevé une multitude de questions théoriques et pratiques. Après une période «empirique» de conception des caméras,beaucoup de travaux de recherche ont traité de la formalisation et la modélisation géométrique et optique. C’est actuellement l’aspect le plus abouti. L’objectif de ce papier est d’introduire la vision omnidirectionnelle et de donner un aperçu rapide des modèles géométriques existants et des méthodes calibrage afin de faciliter la lecture des articles de ce numéro. Les articles parus dans ce numéro spécial seront référencés,lorsqu’il y a lieu,pour les situer par rapport aux modèles géométriques utilisés.
Computer Vision,Omnidirectional,panoramic,catadioptric.
Mots clé
Vision,omnidirectionnel,panoramique,catadioptrique.
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