| Foreword | p. v |
| Preface | p. vii |
| Contributors | p. xix |
| Introduction | p. 1 |
| Omnidirectional Vision in Nature | p. 1 |
| Man-Made Panoramic Vision | p. 3 |
| Organization of Book | p. 3 |
| Acknowledgment | p. 4 |
| A Brief Historical Perspective on Panorama | p. 5 |
| Panorama in the Beginning | p. 5 |
| From Panorama Exhibits to Photography | p. 6 |
| Panorama in Europe and the United States | p. 9 |
| From Panoramic Art to Panoramic Technology | p. 13 |
| The Use of Mirrors in Paintings | p. 15 |
| Concluding Remarks | p. 18 |
| Additional Online Resources | p. 19 |
| Acknowledgment | p. 19 |
| Catadioptric Panoramic Systems | p. 21 |
| Development of Low-Cost Compact Omnidirectional Vision Sensors | p. 23 |
| Introduction | p. 23 |
| Previous Work | p. 24 |
| Designs of ODVSs | p. 26 |
| Trial Production of C-ODVSs | p. 30 |
| Applications of ODVSs | p. 34 |
| Conclusion | p. 38 |
| Single Viewpoint Catadioptric Cameras | p. 39 |
| Introduction | p. 39 |
| The Fixed Viewpoint Constraint | p. 41 |
| Resolution of a Catadioptric Camera | p. 54 |
| Defocus Blur of a Catadioptric Camera | p. 59 |
| Case Study: Parabolic Omnidirectional Cameras | p. 65 |
| Conclusion | p. 70 |
| Epipolar Geometry of Central Panoramic Catadioptric Cameras | p. 73 |
| Introduction | p. 73 |
| Terminology and Notation | p. 74 |
| Overview of Existing Panoramic Cameras | p. 75 |
| Central Panoramic Catadioptric Camera | p. 79 |
| Camera Model | p. 81 |
| Examples of Real Central Panoramic Catadioptric Cameras | p. 87 |
| Epipolar Geometry | p. 88 |
| Estimation of Epipolar Geometry | p. 97 |
| Normalization for Estimation of Epipolar Geometry | p. 98 |
| Summary | p. 102 |
| Folded Catadioptric Cameras | p. 103 |
| Introduction | p. 103 |
| Background: Single Mirror Systems | p. 104 |
| Geometry of Folded Systems | p. 105 |
| Optics of Folded Systems | p. 112 |
| An Example Implementation | p. 115 |
| Panoramic Stereo Vision Systems | p. 121 |
| A Real-time Panoramic Stereo Imaging System and Its Applications | p. 123 |
| Introduction | p. 123 |
| Previous Applications | p. 125 |
| Stereo Design | p. 126 |
| Device Calibration | p. 129 |
| Hardware Design and Implementation | p. 133 |
| Results Produced by System | p. 134 |
| The Mathematics of Panoramic Stereo | p. 136 |
| Experimental Results | p. 139 |
| Further Improvements | p. 141 |
| Acknowledgment | p. 141 |
| Panoramic Imaging with Horizontal Stereo | p. 143 |
| Introduction | p. 143 |
| Multiple Viewpoint Projections | p. 145 |
| Stereo Panoramas with Rotating Cameras | p. 145 |
| Stereo Panoramas with a Spiral Mirror | p. 148 |
| Stereo Panoramas with a Spiral Lens | p. 151 |
| Stereo Pairs from Stereo Panoramas | p. 157 |
| Panoramic Stereo Movies | p. 158 |
| Left-right Panorama Alignment (Vergence) | p. 159 |
| Concluding Remarks | p. 160 |
| Acknowledgment | p. 160 |
| Panoramic Stereovision Sensor | p. 161 |
| Rotating a Linear CCD | p. 161 |
| System Function | p. 164 |
| Toward a Real-time Sensor? | p. 166 |
| Acknowledgment | p. 167 |
| Calibration of the Stereovision Panoramic Sensor | p. 169 |
| Introduction | p. 169 |
| Linear Camera Calibration using Rigid Transformation | p. 169 |
| Calibrating the Panoramic Sensor using Projective Normalized Vectors | p. 173 |
| Handling Lens Distortions | p. 177 |
| Results | p. 178 |
| Conclusion | p. 180 |
| Acknowledgment | p. 180 |
| Matching Linear Stereoscopic Images | p. 181 |
| Introduction | p. 181 |
| Geometrical Properties of the Panoramic Sensor | p. 181 |
| Positioning the Problem | p. 183 |
| A Few Notions on Dynamic Programing | p. 184 |
| Matching Linear Lines | p. 185 |
| Region Matching | p. 193 |
| Techniques for Generating Panoramic Images | p. 201 |
| Characterization of Errors in Compositing Cylindrical Panoramic Images | p. 205 |
| Introduction | p. 205 |
| Generating a Panoramic Image | p. 208 |
| Compositing Errors due to Misestimation of Focal Length | p. 209 |
| Compositing Errors due to Misestimation of Radial Distortion Coefficient | p. 218 |
| Effect of Error in Focal Length and Radial Distortion Coefficient on 3D Data | p. 222 |
| An Example using Images of a Real Scene | p. 223 |
| Summary | p. 226 |
| Construction of Panoramic Image Mosaics with Global and Local Alignment | p. 227 |
| Introduction | p. 227 |
| Cylindrical and Spherical Panoramas | p. 230 |
| Alignment Framework and Motion Models | p. 233 |
| Patch-based Alignment Algorithm | p. 240 |
| Estimating the Focal Length | p. 242 |
| Global Alignment (Block Adjustment) | p. 244 |
| Deghosting (Local Alignment) | p. 250 |
| Experiments | p. 252 |
| Environment Map Construction | p. 260 |
| Discussion | p. 263 |
| Appendix: Linearly-constrained Least-squares | p. 265 |
| Self-Calibration of Zooming Cameras from a Single Viewpoint | p. 269 |
| Introduction | p. 269 |
| The Rotating Camera | p. 270 |
| Self-calibration of Rotating Cameras | p. 275 |
| Experimental Results | p. 279 |
| Optimal Estimation: Bundle-adjustment | p. 282 |
| Discussion | p. 286 |
| 360 x 360 Mosaics: Regular and Stereoscopic | p. 291 |
| Spherical Mosaics | p. 291 |
| 360[degree] Strips | p. 292 |
| 360[degree] Slices | p. 295 |
| Slice Cameras | p. 296 |
| Experimental Results | p. 297 |
| Variants of the Slice Camera | p. 298 |
| Summary | p. 299 |
| Mosaicing with Strips on Adaptive Manifolds | p. 309 |
| Introduction | p. 309 |
| Mosaicing with Strips | p. 313 |
| Cutting and Pasting of Strips | p. 314 |
| Examples of Mosaicing Implementations | p. 317 |
| Rectified Mosaicing: A Tilted Camera | p. 320 |
| View Interpolation for Motion Parallax | p. 323 |
| Concluding Remarks | p. 325 |
| Applications | p. 327 |
| 3D Environment Modeling from Multiple Cylindrical Panoramic Images | p. 329 |
| Introduction | p. 329 |
| Relevant Work | p. 330 |
| Overview of Approach | p. 331 |
| Extraction of Panoramic Images | p. 332 |
| Recovery of Epipolar Geometry | p. 333 |
| Omnidirectional Multibaseline Stereo | p. 337 |
| Stereo Data Segmentation and Modeling | p. 343 |
| Experimental Results | p. 343 |
| Discussion and Conclusions | p. 347 |
| Appendix: Optimal Point Intersection | p. 349 |
| Appendix: Elemental Transform Derivatives | p. 350 |
| N-Ocular Stereo for Real-Time Human Tracking | p. 359 |
| Introduction | p. 359 |
| Multiple Camera Stereo | p. 361 |
| Localization of Targets by N-ocular Stereo | p. 363 |
| Implementing N-ocular Stereo | p. 366 |
| Experimentation | p. 369 |
| Conclusion | p. 374 |
| Identifying and Localizing Robots with Omnidirectional Vision Sensors | p. 377 |
| Introduction | p. 377 |
| Omnidirectional Vision Sensor | p. 378 |
| Identification and Localization Algorithm | p. 378 |
| Experimental Results | p. 384 |
| Conclusions | p. 390 |
| Video Representation and Manipulations Using Mosaics | p. 393 |
| Introduction | p. 393 |
| From Frames to Scenes | p. 395 |
| Uses of the Scene-based Representation | p. 399 |
| Building the Scene-based Representation | p. 416 |
| Conclusion | p. 424 |
| Bibliography | p. 425 |
| Table of Contents provided by Syndetics. All Rights Reserved. |
