We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with central-panoramic cameras. By specifying the desired formation in the image plane, we translate the control problem into a separate visual servoing task for each follower. We use a rank constraint on the omnidirectional optical flows across multiple frames to estimate the positi...

Depth estimation is a crucial step for 3D reconstruction with panorama images in recent years. Panorama maintain the complete spatial information but introduce distortion equirectangular projection. In this paper, we propose an ACDNet based on adaptively combined dilated convolution to predict dense depth map monocular panoramic image. Specifically, combine kernels different dilations extend re...

We propose a method for 3D reconstruction of structured environments from a single omnidirectional image. It is based on a reduced amount of user information, in the form of 2D pixel coordinates, alignment and coplanarity properties amongst subsets of the corresponding 3D points. Just a few panoramic images are sufficient for building the 3D model, as opposed to a larger number of “normal” imag...

Catadioptric omnidirectional sensors (catadioptric cameras) capture instantaneous images with panoramic 360◦ field of view. Entire surroundings are projected via a circularly symmetrical mirror onto the image. Nothing disappears from view even when objects move and the robot rotates. Therefore, catadioptric cameras are very effective in dynamic visual guidance applications such as tracking of o...

In 3D terrain navigation applications, the views based on general perspective projection often find features of interest (FOIs) being occluded. As an alternative, panorama-like views preserve the similarity between 3D scenes before and after the deformations while ensuring the visibility of interested features. In this paper, an automatic method for generating panoramic map-like views is propos...

The recent progress in computer graphics has made it possible to construct various virtual environments such as urban or natural scenes. This paper proposes a hybrid method to construct a realistic virtual environment containing an existing real scene. The proposed method combines two different types of 3-D models. 3-D geometric model is used to represent virtual objects in user’s vicinity, ena...

In certain non-central imaging systems, straight lines are projected via a non-planar surface encapsulating the 4 degrees of freedom of the 3D line. Consequently the geometry of the 3D line can be recovered from a minimum of four image points. However, with classical non-central catadioptric systems there is not enough effective baseline for a practical implementation of the method. In this pap...

Most fish, amphibians, reptiles and birds have laterally placed eyes and primarily panoramic vision. These vertebrates usually have complete crossing of optic fibres at the chiasm, i.e., optic ganglion fibres originating from each eye terminate in visual centres of the contralateral hemisphere. One of the features of the mammalian visual system is the appearance of an uncrossed optic projection...

Autonomous navigation, site modelling and surveillance applications all benefit from using panoramic 360◦ images. Catadioptric omnidirectional sensors, consisting of a camera and a mirror, can track objects even while the robot is making sudden and significant turns. There has been much debate and theoretical analysis recently concerning the relative merits of several possible shapes of mirrors...

In this paper, we review design and principles of existing panoramic cameras. Panoramic cameras which enable 3D computation in reasonable time for real time applications are emphasized. We classify panoramic cameras w.r.t. their construction, field of view, and existence of a single projective center. Using this classification we state a utility of the central catadioptric panoramic cameras. We...