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Robust pose estimation and calibration of catadioptric cameras with spherical mirrors / Sagi Filin in Photogrammetric Engineering & Remote Sensing, PERS, vol 86 n° 1 (January 2020)  

Public [article]  inPhotogrammetric Engineering & Remote Sensing, PERS > vol 86 n° 1 (January 2020) . - pp 33 - 44 Titre : Robust pose estimation and calibration of catadioptric cameras with spherical mirrors Type de document : Article/Communication Auteurs : Sagi Filin, Auteur ; Grigory Ilizirov, Auteur ; Bashar Elnashef, Auteur Année de publication : 2020 Article en page(s) : pp 33 - 44 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s) [Termes IGN] estimation de pose [Termes IGN] étalonnage de chambre métrique [Termes IGN] flux lumineux [Termes IGN] lentille [Termes IGN] méthode robuste [Termes IGN] miroir [Termes IGN] reconstruction 3D [Termes IGN] sphère [Termes IGN] trilatération Résumé : (Auteur) Catadioptric cameras broaden the field of view and reveal otherwise occluded object parts. They differ geometrically from central-perspective cameras because of light reflection from the mirror surface. To handle these effects, we present new pose-estimation and reconstruction models for imaging through spherical mirrors. We derive a closed-form equivalent to the collinearity principle via which three methods are established to estimate the system parameters: a resection-based one, a trilateration-based one that introduces novel constraints that enhance accuracy, and a direct and linear transform-based one. The estimated system parameters exhibit improved accuracy compared to the state of the art, and analysis shows intrinsic robustness to the presence of a high fraction of outliers. We then show that 3D point reconstruction can be performed at accurate levels. Thus, we provide an in-depth look into the geometrical modeling of spherical catadioptric systems and practical enhancements of accuracies and requirements to reach them. Numéro de notice : A2020-050 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.14358/PERS.86.1.33 Date de publication en ligne : 01/01/2020 En ligne : https://doi.org/10.14358/PERS.86.1.33 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94535 [article]

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