Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig
We present a novel catadioptric-stereo rig consisting of a coaxially-aligned perspective camera and two spherical mirrors with distinct radii in a “folded configuration. We recover a nearly-spherical dense depth panorama (360x153) by fusing depth from optical flow and stereo. We observe that for motion in a horizontal plane, optical flow and stereo generate nearly complementary distributions of depth resolution. While optical flow provides strong depth cues in the periphery and near the poles of the view-sphere, stereo generates reliable depth in a narrow band about the equator. We exploit this principle by modeling the depth resolution of optical flow and stereo in order to fuse them probabilistically in a spherical panorama. To aid the designer in achieving a desired field-of-view and resolution, we derive a linearized model of the rig in terms of three parameters (radii of the two mirrors plus axial separation from their centers). We analyze the error due to the violation of the Single Viewpoint (SVP) constraint and formulate additional constraints on the design to minimize the error. Performance is evaluated through simulation and with a real prototype by computing dense spherical panoramas in cluttered indoor settings.
Igor Labutov Carlos Jaramillo Jizhong Xiao
Computer Engineering Department,City College of New York (CUNY),New York,NY 10031 USA Electrical Engineering Department,City College of New York,Convent Ave & 140th Street,New York,NY 10
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3092-3097
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）