Mirrors in motion: epipolar geometry and motion estimation
- 1 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 766-773 vol.2
- https://doi.org/10.1109/iccv.2003.1238426
Abstract
In this paper we consider the images taken from pairs of parabolic catadioptric cameras separated by discrete motions. Despite the nonlinearity of the projection model, the epipolar geometry arising from such a system, like the perspective case, can be encoded in a bilinear form, the catadioptric fundamental matrix. We show that all such matrices have equal Lorentzian singular values, and they define a nine-dimensional manifold in the space of 4 /spl times/ 4 matrices. Furthermore, this manifold can be identified with a quotient of two Lie groups. We present a method to estimate a matrix in this space, so as to obtain an estimate of the motion. We show that the estimation procedures are robust to modest deviations from the ideal assumptions.Keywords
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