Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-7/W2, 167-172, 2013
http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-7-W2/167/2013/
doi:10.5194/isprsarchives-XL-7-W2-167-2013
© Author(s) 2013. This work is distributed
under the Creative Commons Attribution 3.0 License.
 
29 Oct 2013
Equisolid Fisheye Stereovision Calibration and Point Cloud Computation
J. Moreau1,2, A. Ambellouis2, and Y. Ruichek1 1IRTES-SET, UTBM, 90010 Belfort CEDEX, France
2IFSTTAR, LEOST, Univ Lille Nord de France – F-59000 Lille, F-59650 Villeneuve d'Ascq, France
Keywords: Fisheye stereovision, binocular, 3D reconstruction, point cloud, dynamic programming matching Abstract. This paper deals with dense 3D point cloud computation of urban environments around a vehicle. The idea is to use two fisheye views to get 3D coordinates of the surrounding scene's points. The first contribution of this paper is the adaptation of an omnidirectional stereovision self-calibration algorithm to an equisolid fisheye projection model. The second contribution is the description of a new epipolar matching based on a scan-circle principle and a dynamic programming technique adapted for fisheye images. The method is validated using both synthetic images for which ground truth is available and real images of an urban scene.
Conference paper (PDF, 1428 KB)


Citation: Moreau, J., Ambellouis, A., and Ruichek, Y.: Equisolid Fisheye Stereovision Calibration and Point Cloud Computation, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-7/W2, 167-172, doi:10.5194/isprsarchives-XL-7-W2-167-2013, 2013.

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