The Visual Computer

, Volume 19, Issue 6, pp 405–416

Omnidirectional video

Special issue on computational video

DOI: 10.1007/s00371-003-0204-4

Cite this article as:
Geyer, C. & Daniilidis, K. Vis Comput (2003) 19: 405. doi:10.1007/s00371-003-0204-4


Omnidirectional video enables direct surround immersive viewing of a scene by warping the original image into the correct perspective given a viewing direction. However, novel views from viewpoints off the camera path can only be obtained if we solve the three-dimensional motion and calibration problem. In this paper we address the case of a parabolic catadioptric camera – a paraboloidal mirror in front of an orthographic lens – and we introduce a new representation, called the circle space, for points and lines in such images. In this circle space, we formulate an epipolar constraint involving a 4×4 fundamental matrix. We prove that the intrinsic parameters can be inferred in closed form from the two-dimensional subspace of the new fundamental matrix from two views if they are constant or from three views if they vary. Three-dimensional motion and structure can then be estimated from the decomposition of the fundamental matrix.


Catadioptric cameras Structure from motion Pose estimation Immersive walkthroughs 

Copyright information

© Springer-Verlag 2003

Authors and Affiliations

  1. 1.GRASP LaboratoryUniversity of PennsylvaniaPhiladelphiaUSA

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