Title :
Closed form spherical omnidirectional image unwrapping
Author :
Chong, N.S. ; Wong, M.L.D. ; Kho, Y.H.
Author_Institution :
Sarawak Campus, Swinburne Univ. of Technol., Kuching, Malaysia
Abstract :
This paper proposed a novel method of image unwrapping for spherical omnidirectional images acquired through a non-single viewpoint omnidirectional sensor. The proposed method comprises of three key steps, i.e. 1) calibrate the camera to obtain parameters describing the spherical omnidirectional sensor, 2) map world points onto mirror points and, subsequently, onto image points, and 3) set up the projection plane for the final image unwrapping. Depending on the projection plane selected, the algorithm is able to produce either the cylindrical panoramic, the cubloid panoramic, or the ground plane view using closed form mapping equations derived herein. The motivation for developing this technique is to address the complexity in using non-single viewpoint omnidirectional sensor; and ultimately promotes its adoption in robotics.
Keywords :
calibration; image sensors; robot vision; camera calibration; closed form mapping equations; closed form spherical omnidirectional image unwrapping; cuboid panoramic image; cylindrical panoramic image; ground plane view; image points; mirror points; nonsingle viewpoint omnidirectional sensor; projection plane selection; robotics; world points; Spherical omnidirectional sensor; image unwrapping; non-single viewpoint;
Conference_Titel :
Image Processing (IPR 2012), IET Conference on
Conference_Location :
London
Electronic_ISBN :
978-1-84919-632-1
DOI :
10.1049/cp.2012.0443