LÓPEZ-NICOLÁS, SAGÜÉS: CATADIOPTRIC CAMERA MODEL WITH CONIC MIRROR 1 Catadioptric camera model with conic mirror

Catadioptric systems consist of the combination of lenses and mirrors. From them, central panoramic systems stand out because they provide a unique effective viewpoint, leading to the well-known unifying theory for central catadioptric systems. This paper considers catadioptric systems consisting of a conic mirror and a projective camera. Although a system with conic mirror does not possess a single projection point, it has some advantages as the cone is a very simple shape to produce, it has higher resolution in the peripheral, and adds less optical distortion to the images. The contributions of this work are the model of this non-central system by means of projective mappings from a torus to a plane, and the definition of the conic fundamental matrix with a role similar to that of perspective cameras. Additionally, a procedure to compute the relative motion between two views from the conic fundamental matrix is presented.