一类特定全方位摄像头外极曲线计算

Epipolar curves computation for a special central catadioptric omnidirectional camera

研究了由双曲面镜面与球面镜面共同组成折反射系统并结合普通透视摄像头所构成的一类特定全景视觉系统,推导了该全方位摄像头成像模型以及外极曲线的计算过程,分析了外极曲线特性,最后通过实验进行理论验证。实验结果表明,本文所提出的计算方法可快速准确地得到外极曲线,有利于全景图像立体匹配过程中对应点的搜索匹配。

This paper discusses a special omnidirectional vision system which is composed by a hyperboloid mirror and a spherical mirror with combining a general perspective camera. By deriving the model of image formation of central eatadioptric cameras in detail,we have calculate the epipolar curve constraint on corresponding image points in the two panoramic images and analyzed the feature of epipolar curves. Finally, the method is verified by experiments with real central catadioptric cameras. Experimental results show that the proposal method can get good epipolar curves rapidly and accurately, and is helpful to corresponding points matching of panoramic images in the task of stereo matching.