Modeling Omnidirectional Vision Systems：全向视觉系统建模.pdfVIP

Chapter 1 Modeling Omnidirectional Vision Systems Abstract In this chapter, different types of omnidirectional systems are briefly intro- duced. Then, we focus on the central catadioptric systems and the model used to deal with this type of systems, the so-called sphere camera model. The projection of points and lines under this model are also explained as well as the relation between this model and the actual catadioptric systems. Later, we introduce the lifted coordinates, which is a tool used to deal with the non linearities present on the sphere camera model. We show two differ