Panoramic Imaging with SVA VISCA Camera - Simulations Tom a s - PowerPoint PPT Presentation

Panoramic Imaging with SVA VISCA Camera - Simulations Tom´ aˇ s Pajdla Hadas Roth Center for Machine Perception Faculty of Electrical Engineering Czech Technical University Technion Czech republic and Israel pajdla@cmp.felk.cvut.cz sharasr@techst02.technion.ac.il http://cmp.felk.cvut.cz http://www.technion.ac.il

Simulations of Panoramic Imaging with SVAVISCA Camera Hyperbolic mirror SVAVISCA sensor Omni-camera

Acquisition of real scenes A hyperbolic mirror a panoramic image + a conventional CCD camera

+ 2 a 3 a Acquisition of artificial scenes 4 a 5 a 6 a a 7 a 8 9 a a 10 a 11 12 a 13 a 14 a a 15 16 a a 17 a 18 19 a 20 a 21 a = ,

Sampling of panoramic images 280 285 50 290 295 100 300 305 150 310 315 200 320 325 250 330 365 370 375 380 385 390 395 400 405 410 415 300 300 310 301 311 350 302 312 400 303 313 304 314 450 305 315 306 316 500 307 317 308 318 550 309 319 100 200 300 400 500 600 310 320 385 386 387 388 389 390 391 392 393 394 395 402 403 404 405 406 407 408 409 410 411 412 square root logarithmic SVAVISCA 160 140 120 100 r’ in the output image 80 60 40 geometrical mapping 20 quadratic mapping exponential mapping svavisca mapping 0 0 50 100 150 200 250 300 350 400 450 r in the input image radius transformation

Resampled images of artificial scene hyperb. mirror 20 20 20 40 40 40 60 60 60 80 80 80 100 100 100 120 120 120 140 140 140 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250 square root logarithm SVAVISCA 20 20 20 40 40 40 60 60 60 80 80 80 100 100 100 120 120 120 140 140 140 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250 spheric. mirror

Resampled images of real scene hyperb. mirror 20 20 20 40 40 40 60 60 60 80 80 80 100 100 100 120 120 120 140 140 140 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250 square root logarithm SVAVISCA 20 20 20 40 40 40 60 60 60 80 80 80 100 100 100 120 120 120 140 140 140 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250 spheric. mirror

hyperb. mirror square root logarithm SVAVISCA 20 20 20 40 40 40 60 60 60 80 80 80 100 100 100 120 120 120 140 140 140 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250 20 20 20 40 40 40 60 60 60 80 80 80 100 100 100 120 120 120 140 140 140 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250

geom. correct square root logarithm SVAVISCA 20 20 20 20 40 40 40 40 60 60 60 60 80 80 80 80 100 100 100 100 120 120 120 120 140 140 140 140 50 100 150 200 50 100 150 200 250 50 100 150 200 250 50 100 150 200 250

Resampled images of real scene - geometrical + SVAVISCA 20 40 60 80 100 120 140 50 100 150 200 20 40 60 80 100 120 140 . 50 100 150 200 250

Resampled images of real scene - SVAVISCA 20 40 60 80 100 120 140 50 100 150 200 250 .

Mirror design 1. The mirror occupies only a small part of the image - not bigger than the fovea! 2. Constant angular resolution! 3. ???????? radial resolution! 4. Experiment with the SVAVISCA camera and the existing mirrors must be done before doing the design!

Applications 1. Low resolution virtual tele-presence cameras possible! 2. Image based orientation of mobile robots possible! 3. Motion detection for surveillance possible!