Pose estimation for central catadioptric systems: an analytical approach

The number of applications for central catadioptric systems, often called central panoramic systems, is increasing. Among these are surveillance systems, commercial systems for Web navigation and robot localization and navigation. This work is involved with the latter, and presents an analytical method for pose estimation using any central catadioptric system. Any known four points in the world, forming a planar rectangle. may be used for pose computation. The computed pose includes the rotation and the translation from the camera coordinate system to the world coordinate system.