A generic fisheye camera model for robotic applications

Omnidirectional cameras have a wide field of view and are thus used in many robotic vision tasks. An omnidirectional view may be acquired by a fisheye camera which provides a full image compared to catadioptric visual sensors and do not increase the size and the weakness of the imaging system with r...

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Bibliographic Details
Main Authors: Courbon, Jonathan, Mezouar, Youcef, Eckt, Laurent, Martinet, Philippe
Format: Conference Proceeding
Language:English
Subjects:
Image sensors
Intelligent robots
Intelligent sensors
Lenses
Mirrors
Robot sensing systems
Robot vision systems
Sensor systems
Smart cameras
Visual servoing
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Description
Summary:Omnidirectional cameras have a wide field of view and are thus used in many robotic vision tasks. An omnidirectional view may be acquired by a fisheye camera which provides a full image compared to catadioptric visual sensors and do not increase the size and the weakness of the imaging system with respect to perspective cameras. We prove that the unified model for catadioptric systems can model fisheye cameras with distortions directly included in its parameters. This unified projection model consists on a projection onto a virtual unitary sphere, followed by a perspective projection onto an image plane. The validity of this assumption is discussed and compared with other existing models. Calibration and partial Euclidean reconstruction results help to confirm the validity of our approach. Finally, an application to the visual servoing of a mobile robot is presented and experimented.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2007.4399233