Michal Havlena, Tomáš Pajdla, Kurt Cornelis



This paper deals with a step towards a 3D reconstruction system for city modeling from omnidirectional video sequences using structure from motion together with stereo constraints. We concentrate on two issues. First, we show how the tracking and reconstruction paradigm were adapted to use omnidirectional images taken by lenses with 180 degrees field of view. This concerns mainly camera calibration transforming the pixel locations into rays and solving the minimal problem for 3D-to-2D matches using RANSAC. Secondly, we compare the results of the reconstruction using additional stereo constraints to the results when these constraints are not used and show that they are needed to make the reconstruction stable. Performance of the system is demonstrated on a sequence of 870 images acquired while driving in a city.


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Paper Citation

in Harvard Style

Havlena M., Pajdla T. and Cornelis K. (2008). STRUCTURE FROM OMNIDIRECTIONAL STEREO RIG MOTION FOR CITY MODELING . In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008) ISBN 978-989-8111-21-0, pages 407-414. DOI: 10.5220/0001081104070414

in Bibtex Style

author={Michal Havlena and Tomáš Pajdla and Kurt Cornelis},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},

in EndNote Style

JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)
SN - 978-989-8111-21-0
AU - Havlena M.
AU - Pajdla T.
AU - Cornelis K.
PY - 2008
SP - 407
EP - 414
DO - 10.5220/0001081104070414