Pose Estimation for Sensors Which Capture Cylindric Panoramas

This paper shows that there exist linear models for sensor pose estimation for multi-view panoramas defined by a symmetric or leveled pair of cylindric images. It assumes that pairs of corresponding points have been detected already in those pairs of panoramas. For the first time a cost function is formulated whose minimization solves the pose estimation problem for these two general cases of multi-view panoramas, specified by unconstrained sensor parameter values but only minor constraints on sensor poses. (Note that due to the non-linearity of the panoramic projection geometry, the modeling of sensor pose estimation typically results into non-linear forms which incur numerical instability.) 1 Review and Basic Notions A panoramic image is recorded by a panoramic sensor, such as a rotating camera. Sensor pose estimation deals with recovering the relative pose of two (calibrated) sensors. Compared to planar images or catadioptric images, there is very few literature on sensor pose estim...

• Type: Conference
• Year: 2008
• Where: CIARP
• Authors: Fay Huang, Reinhard Klette, Yun-Hao Xie
• Keywords: CIARP 2008, Multi-view Panoramas, Pattern Recognition, Pose Estimation Problem, Sensor Pose Estimation