Algorithms for shape-from-motion simultaneously estimate camera motion and scene structure. When extended to omnidirectional cameras, shape from-motion algorithms are likely to provide robust motion estimates, in particular because of the camera's wide field of view In this paper we describe both batch and online shape from-motion algorithms for omnidirectional cameras, and a precise calibration technique that improves the accuracy of both methods. The shape from-motion and calibration methods are general and handle a wide variety of omnidirectional camera geometries. In particular the methods do not require that the camera-mirror combination have a single center of projection. We describe a noncentral camera that we have developed, and show experimentally that combining shape-from-motion with this design produces highly accurate motion estimates.
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