Foreword | p. v |
Preface | p. vii |
Contributors | p. xix |
Introduction | p. 1 |
Omnidirectional Vision in Nature | p. 1 |
Man-Made Panoramic Vision | p. 3 |
Organization of Book | p. 3 |
Acknowledgment | p. 4 |
A Brief Historical Perspective on Panorama | p. 5 |
Panorama in the Beginning | p. 5 |
From Panorama Exhibits to Photography | p. 6 |
Panorama in Europe and the United States | p. 9 |
From Panoramic Art to Panoramic Technology | p. 13 |
The Use of Mirrors in Paintings | p. 15 |
Concluding Remarks | p. 18 |
Additional Online Resources | p. 19 |
Acknowledgment | p. 19 |
Catadioptric Panoramic Systems | p. 21 |
Development of Low-Cost Compact Omnidirectional Vision Sensors | p. 23 |
Introduction | p. 23 |
Previous Work | p. 24 |
Designs of ODVSs | p. 26 |
Trial Production of C-ODVSs | p. 30 |
Applications of ODVSs | p. 34 |
Conclusion | p. 38 |
Single Viewpoint Catadioptric Cameras | p. 39 |
Introduction | p. 39 |
The Fixed Viewpoint Constraint | p. 41 |
Resolution of a Catadioptric Camera | p. 54 |
Defocus Blur of a Catadioptric Camera | p. 59 |
Case Study: Parabolic Omnidirectional Cameras | p. 65 |
Conclusion | p. 70 |
Epipolar Geometry of Central Panoramic Catadioptric Cameras | p. 73 |
Introduction | p. 73 |
Terminology and Notation | p. 74 |
Overview of Existing Panoramic Cameras | p. 75 |
Central Panoramic Catadioptric Camera | p. 79 |
Camera Model | p. 81 |
Examples of Real Central Panoramic Catadioptric Cameras | p. 87 |
Epipolar Geometry | p. 88 |
Estimation of Epipolar Geometry | p. 97 |
Normalization for Estimation of Epipolar Geometry | p. 98 |
Summary | p. 102 |
Folded Catadioptric Cameras | p. 103 |
Introduction | p. 103 |
Background: Single Mirror Systems | p. 104 |
Geometry of Folded Systems | p. 105 |
Optics of Folded Systems | p. 112 |
An Example Implementation | p. 115 |
Panoramic Stereo Vision Systems | p. 121 |
A Real-time Panoramic Stereo Imaging System and Its Applications | p. 123 |
Introduction | p. 123 |
Previous Applications | p. 125 |
Stereo Design | p. 126 |
Device Calibration | p. 129 |
Hardware Design and Implementation | p. 133 |
Results Produced by System | p. 134 |
The Mathematics of Panoramic Stereo | p. 136 |
Experimental Results | p. 139 |
Further Improvements | p. 141 |
Acknowledgment | p. 141 |
Panoramic Imaging with Horizontal Stereo | p. 143 |
Introduction | p. 143 |
Multiple Viewpoint Projections | p. 145 |
Stereo Panoramas with Rotating Cameras | p. 145 |
Stereo Panoramas with a Spiral Mirror | p. 148 |
Stereo Panoramas with a Spiral Lens | p. 151 |
Stereo Pairs from Stereo Panoramas | p. 157 |
Panoramic Stereo Movies | p. 158 |
Left-right Panorama Alignment (Vergence) | p. 159 |
Concluding Remarks | p. 160 |
Acknowledgment | p. 160 |
Panoramic Stereovision Sensor | p. 161 |
Rotating a Linear CCD | p. 161 |
System Function | p. 164 |
Toward a Real-time Sensor? | p. 166 |
Acknowledgment | p. 167 |
Calibration of the Stereovision Panoramic Sensor | p. 169 |
Introduction | p. 169 |
Linear Camera Calibration using Rigid Transformation | p. 169 |
Calibrating the Panoramic Sensor using Projective Normalized Vectors | p. 173 |
Handling Lens Distortions | p. 177 |
Results | p. 178 |
Conclusion | p. 180 |
Acknowledgment | p. 180 |
Matching Linear Stereoscopic Images | p. 181 |
Introduction | p. 181 |
Geometrical Properties of the Panoramic Sensor | p. 181 |
Positioning the Problem | p. 183 |
A Few Notions on Dynamic Programing | p. 184 |
Matching Linear Lines | p. 185 |
Region Matching | p. 193 |
Techniques for Generating Panoramic Images | p. 201 |
Characterization of Errors in Compositing Cylindrical Panoramic Images | p. 205 |
Introduction | p. 205 |
Generating a Panoramic Image | p. 208 |
Compositing Errors due to Misestimation of Focal Length | p. 209 |
Compositing Errors due to Misestimation of Radial Distortion Coefficient | p. 218 |
Effect of Error in Focal Length and Radial Distortion Coefficient on 3D Data | p. 222 |
An Example using Images of a Real Scene | p. 223 |
Summary | p. 226 |
Construction of Panoramic Image Mosaics with Global and Local Alignment | p. 227 |
Introduction | p. 227 |
Cylindrical and Spherical Panoramas | p. 230 |
Alignment Framework and Motion Models | p. 233 |
Patch-based Alignment Algorithm | p. 240 |
Estimating the Focal Length | p. 242 |
Global Alignment (Block Adjustment) | p. 244 |
Deghosting (Local Alignment) | p. 250 |
Experiments | p. 252 |
Environment Map Construction | p. 260 |
Discussion | p. 263 |
Appendix: Linearly-constrained Least-squares | p. 265 |
Self-Calibration of Zooming Cameras from a Single Viewpoint | p. 269 |
Introduction | p. 269 |
The Rotating Camera | p. 270 |
Self-calibration of Rotating Cameras | p. 275 |
Experimental Results | p. 279 |
Optimal Estimation: Bundle-adjustment | p. 282 |
Discussion | p. 286 |
360 x 360 Mosaics: Regular and Stereoscopic | p. 291 |
Spherical Mosaics | p. 291 |
360[degree] Strips | p. 292 |
360[degree] Slices | p. 295 |
Slice Cameras | p. 296 |
Experimental Results | p. 297 |
Variants of the Slice Camera | p. 298 |
Summary | p. 299 |
Mosaicing with Strips on Adaptive Manifolds | p. 309 |
Introduction | p. 309 |
Mosaicing with Strips | p. 313 |
Cutting and Pasting of Strips | p. 314 |
Examples of Mosaicing Implementations | p. 317 |
Rectified Mosaicing: A Tilted Camera | p. 320 |
View Interpolation for Motion Parallax | p. 323 |
Concluding Remarks | p. 325 |
Applications | p. 327 |
3D Environment Modeling from Multiple Cylindrical Panoramic Images | p. 329 |
Introduction | p. 329 |
Relevant Work | p. 330 |
Overview of Approach | p. 331 |
Extraction of Panoramic Images | p. 332 |
Recovery of Epipolar Geometry | p. 333 |
Omnidirectional Multibaseline Stereo | p. 337 |
Stereo Data Segmentation and Modeling | p. 343 |
Experimental Results | p. 343 |
Discussion and Conclusions | p. 347 |
Appendix: Optimal Point Intersection | p. 349 |
Appendix: Elemental Transform Derivatives | p. 350 |
N-Ocular Stereo for Real-Time Human Tracking | p. 359 |
Introduction | p. 359 |
Multiple Camera Stereo | p. 361 |
Localization of Targets by N-ocular Stereo | p. 363 |
Implementing N-ocular Stereo | p. 366 |
Experimentation | p. 369 |
Conclusion | p. 374 |
Identifying and Localizing Robots with Omnidirectional Vision Sensors | p. 377 |
Introduction | p. 377 |
Omnidirectional Vision Sensor | p. 378 |
Identification and Localization Algorithm | p. 378 |
Experimental Results | p. 384 |
Conclusions | p. 390 |
Video Representation and Manipulations Using Mosaics | p. 393 |
Introduction | p. 393 |
From Frames to Scenes | p. 395 |
Uses of the Scene-based Representation | p. 399 |
Building the Scene-based Representation | p. 416 |
Conclusion | p. 424 |
Bibliography | p. 425 |
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