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Published Articles >> Table of Contents >> Abstract
Ninth IEEE International Conference on Computer Vision (ICCV'03) - Volume 2
p. 766
Mirrors in motion: Epipolar geometry and motion estimation
Christopher Geyer, University of California, Berkeley
Kostas Daniilidis, University of Pennsylvania
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICCV.2003.1238426
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In this paper we consider the images taken from pairs of parabolic catadioptric cameras separated by discrete motions. Despite the nonlinearity of the projection model, the epipolar geometry arising from such a system, like the perspective case, can be encoded in a bilinear form, the catadioptric fundamental matrix. We show that all such matrices have equal Lorentzian singular values, and they define a nine-dimensional manifold in the space of 4 × 4 matrices. Furthermore, this manifold can be identified with a quotient of two Lie groups. We present a method to estimate a matrix in this space, so as to obtain an estimate of the motion. We show that the estimation procedures are robust to modest deviations from the ideal assumptions.
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Citation:
Christopher Geyer, Kostas Daniilidis,
"Mirrors in motion: Epipolar geometry and motion estimation,"
iccv,
p. 766,
Ninth IEEE International Conference on Computer Vision (ICCV'03) - Volume 2,
2003
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