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Keywords = catadioptric reflection

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41 pages, 14657 KiB  
Article
Research on Design, Calibration and Real-Time Image Expansion Technology of Unmanned System Variable-Scale Panoramic Vision System
by Xiaodong Guo, Zhoubo Wang, Wei Zhou and Zhenhai Zhang
Sensors 2021, 21(14), 4708; https://doi.org/10.3390/s21144708 - 9 Jul 2021
Cited by 10 | Viewed by 3925
Abstract
This paper summarized the research status, imaging model, systems calibration, distortion correction, and panoramic expansion of panoramic vision systems, pointed out the existing problems and put forward the prospect of future research. According to the research status of panoramic vision systems, a panoramic [...] Read more.
This paper summarized the research status, imaging model, systems calibration, distortion correction, and panoramic expansion of panoramic vision systems, pointed out the existing problems and put forward the prospect of future research. According to the research status of panoramic vision systems, a panoramic vision system with single viewpoint of refraction and reflection is designed. The systems had the characteristics of fast acquisition, low manufacturing cost, fixed single-view imaging, integrated imaging, and automatic switching depth of field. Based on these systems, an improved nonlinear optimization polynomial fitting method is proposed to calibrate the monocular HOVS, and the binocular HOVS is calibrated with the Aruco label. This method not only improves the robustness of the calibration results, but also simplifies the calibration process. Finally, a real-time method of panoramic map of multi-function vehicle based on vcam is proposed. Full article
(This article belongs to the Section Sensing and Imaging)
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15 pages, 2207 KiB  
Article
An Omnidirectional Vision Sensor Based on a Spherical Mirror Catadioptric System
by Sandro Barone, Marina Carulli, Paolo Neri, Alessandro Paoli and Armando Viviano Razionale
Sensors 2018, 18(2), 408; https://doi.org/10.3390/s18020408 - 31 Jan 2018
Cited by 12 | Viewed by 4575
Abstract
The combination of mirrors and lenses, which defines a catadioptric sensor, is widely used in the computer vision field. The definition of a catadioptric sensors is based on three main features: hardware setup, projection modelling and calibration process. In this paper, a complete [...] Read more.
The combination of mirrors and lenses, which defines a catadioptric sensor, is widely used in the computer vision field. The definition of a catadioptric sensors is based on three main features: hardware setup, projection modelling and calibration process. In this paper, a complete description of these aspects is given for an omnidirectional sensor based on a spherical mirror. The projection model of a catadioptric system can be described by the forward projection task (FP, from 3D scene point to 2D pixel coordinates) and backward projection task (BP, from 2D coordinates to 3D direction of the incident light). The forward projection of non-central catadioptric vision systems, typically obtained by using curved mirrors, is usually modelled by using a central approximation and/or by adopting iterative approaches. In this paper, an analytical closed-form solution to compute both forward and backward projection for a non-central catadioptric system with a spherical mirror is presented. In particular, the forward projection is reduced to a 4th order polynomial by determining the reflection point on the mirror surface through the intersection between a sphere and an ellipse. A matrix format of the implemented models, suitable for fast point clouds handling, is also described. A robust calibration procedure is also proposed and applied to calibrate a catadioptric sensor by determining the mirror radius and center with respect to the camera. Full article
(This article belongs to the Section Physical Sensors)
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