Reconstructing Environmental Structure by Virtual Omnidirectional Image Generation (コンピュータビジョンとイメージメディア研究報告)

概要

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This paper describes a new method for reconstructing the 2D structure of an environment from image sequences taken by an omnidirectional camera. The process starts by capturing the original omni-images with the omnidirectional camera on a mobile platform that is moving on a straight path. By exploiting the characteristics of the virtual omni-images generated at arbitrary viewing points in the environment, we are able to synthesize a 3-D visual representation of the environment. The 2D structure that is parallel to the ground plane will emerge through analyzing the 3-D visual representation. That is, this method directly reconstructs the 2D structure from the omnidirectional visual sequence without matching process needed for multiple camera stereo. In the experimentation, we have applied this method to both of indoor and outdoor environments and verified the performance.
一般社団法人情報処理学会の論文
2002-01-17