Polydioptric Camera Design and 3D Motion Estimation

Most cameras used in computer vision applications are still based on the pinhole principle inspired by our own eyes. It has been found though that this is not necessarily the optimal image formation principle for processing visual information using a machine. In this paper we describe how to find the optimal camera for 3D motion estimation by analyzing the structure of the space formed by the light rays passing through a volume of space. Every camera corresponds to a sampling pattern in light ray space, thus the question of camera design can be rephrased as finding the optimal sampling pattern with regard to a given task. This framework suggests that large field-of-view multiperspective (polydioptric) cameras are the optimal image sensors for 3D motion estimation. We conclude by proposing design principles for polydioptric cameras and describe an algorithm for such a camera that estimates its 3D motion in a scene independent and robust manner.