Pose Estimation for Central Catadioptric Systems: An Analytical Approach
نویسندگان
چکیده
The number of applications for central catadioptric systems, often called central panoramic systems, are increasing. Among these are surveillance systems, commercial systems for web navigation and robot localization and navigation. This works includes itself in the last case, and presents an analytical method for pose estimation using any central catadioptric system. Any known four points in the world, forming a planar rectangle, may be used for pose computation. The computed pose includes the rotation and the translation from the camera coordinate system to the world coordinate system.
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