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Electronic stabilization of catadioptric panoramic image
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作者 马子领 王建中 《Journal of Beijing Institute of Technology》 EI CAS 2011年第2期238-243,共6页
An effective algorithm of electronic image stabilization (EIS) of catadioptric panoramic imaging system for track robots is presented. The key techniques of this algorithm are as follows:① A model of electronic im... An effective algorithm of electronic image stabilization (EIS) of catadioptric panoramic imaging system for track robots is presented. The key techniques of this algorithm are as follows:① A model of electronic image stabilization is built by analyzing the imaging theory and the principle of EIS, and the image shift function of unwrapped panoramic image is deduced;② The relationship equation between motion estimation parameters of annular panoramic image and motion estimation parameters of unwrapped panoramic image is developed according to the constrained aspect ratio of real objects, motion parameters of annular panoramic image are firstly estimated, and then motion parameters among the image shift function are carried out according to the relationship equation;③ An excessive stabilization threshold is presented to prevent the phenomena of excessive stabilization, and the Kalman filtering is adopted to smooth the image sequences. Numerical experimental results show that this algorithm can effectively smooth out the unwanted motion and follow the intentional camera movement under certain resolutions. 展开更多
关键词 catadioptric panoramic imaging electronic image stabilization Kalman filtering
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Unwrapping and stereo rectification for omnidirectional images 被引量:1
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作者 Jie LEI Xin DU +1 位作者 Yun-fang ZHU Ji-lin LIU 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2009年第8期1125-1139,共15页
Omnidirectional imaging sensors have been used in more and more applications when a very large field of view is required.In this paper,we investigate the unwrapping,epipolar geometry and stereo rectification issues fo... Omnidirectional imaging sensors have been used in more and more applications when a very large field of view is required.In this paper,we investigate the unwrapping,epipolar geometry and stereo rectification issues for omnidirectional vision when the particular mirror model and the camera parameters are unknown in priori.First,the omnidirectional camera is calibrated under the Taylor model,and the parameters related to this model are obtained.In order to make the classical computer vision algorithms of conventional perspective cameras applicable,the ring omnidirectional image is unwrapped into two kinds of panoramas:cylinder and cuboid.Then the epipolar geometry of arbitrary camera configuration is analyzed and the essential matrix is deduced with its properties being indicated for ring images.After that,a simple stereo rectification method based on the essential matrix and the conformal mapping is proposed.Simulations and real data experimental results illustrate that our methods are effective for the omnidirectional camera under the constraint of a single view point. 展开更多
关键词 Single point of view CALIBRATION catadioptric image unwrapping Omnidirectional stereo vision Epipolar geometry Essential matrix Conformal mapping
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