Abstract
Conventional video cameras have limited fields of view that make them restrictive in a variety of vision applications. There are several ways to enhance the field of view of an imaging system. However, the entire imaging system must have a single effective viewpoint to enable the generation of pure perspective images from a sensed image. A camera with a hemispherical field of view is presented. Two such cameras can be placed back-to-back, without violating the single view-point constraint, to arrive at a truly omnidirectional sensor. The implications of such a sensor for computational vision are explored. Results are presented on the software generation of pure perspective images from an omnidirectional image, given any user-selected viewing direction and magnification. The paper concludes with a discussion on the spatial resolution of the proposed camera.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Baker, S. and S. K. Nayar (1998, January). Catadioptric Image Formation. Proc. of International Conference on Computer Vision.
Bogner, S. (1995, October). Introduction to Panoramic Imaging. Proc. of IEEE SMC Conference, 3100–3106.
Born, M. and E. Wolf (1965). Principles of Optics. London: Permagon.
Charles, J. R. (1987, April). How to Build and Use an All-Sky Camera. Astronomy Magazine.
Chen, S. E. (1995, August). QuickTime VR-An Image Based Approach to Virtual Environment Navigation. Computer Graphics: Proc. of SIGGRAPH 95, 29–38.
Edmund (1996). 1996 Optics and Optical Comportents Catalog, Volume 16N1. Edmund Scientific Company, New Jersey.
Gluckman, J. and S. K. Nayar (1998, January). Egomotion and Omnidirectional Cameras. Proc. of International Conference on Computer Vision.
Goshtasby, A. and W. A. Gruver (1993). Design of a Single-Lens Stereo Camera System. Pattern Recognition 26(6), 923–937.
Hong, J. (1991, May). Image Based Homing. Proc. of IEEE International Conference on Robotics and Automation.
Kingslake, R. (1983). Optical System Design. Academic Press.
Krishnan, A. and N. Ahuja (1996, June). Panoramic Image Acquisition. Proc. of IEEE Conf. on Computer Vision and Pattern Recognition (CVPR-96), 379–384.
Kuban, D. P., H. L. Martin, S. D. Zimmermann, and N. Busico (1994, October). Omniview Motionless Camera Surveillance System. United States Patent (5,359,363).
McMillan, L. and G. Bishop (1995, August). Plenoptic Modeling: An Image-Based Rendering System. Computer Graphics: Proc. of SIGGRAPH 95, 39–46.
Miyamoto, K. (1964, August). Fish Eye Lens. Journal of Optical Society of America 54(8), 1060–1061.
Murphy, J. R. (1995, October). Application of Panoramic Imaging to a Teleoperated Lunar Rover. Proc. of IEEE SMC Conference, 3117–3121.
Nalwa, V. (1996, February). A True Omnidirectional Viewer. Technical report, Bell Laboratories, Holmdel, NJ 07733, U.S.A.
Nayar, S. K. (1988, November). Sphereo: Recovering depth using a single camera and two specular spheres. Proc. of SPIE: Optics, Illumumination, and Image Sensing for Machine Vision II.
Nayar, S. K. (1997, June). Catadioptric Omnidirectional Camera. Proc. of IEEE Conf. on Computer Vision and Pattern Recognition.
Nayar, S. K. and S. Baker (1997, May). Catadioptric Image Formation. Proc. of DARPA Image Understanding Workshop.
Nene, S. A. and S. K. Nayar (1998, January). Stereo Using Mirrors. Proc. of International Conference on Computer Vision.
Oh, S. J. and E. L. Hall (1987, November). Guidance of a Mobile Robot using an Omnidirectional Vision Navigation System. Proc. of the Society of Photo-Optical Instrumentation Engineers, SPIE 852, 288–300.
Peri, V. and S. K. Nayar (1997, May). Generation of Perspective and Panoramic Video from Omnidirectional Video. Proc. of DARPA Image Understanding Workshop.
Rees, D. W. (1970, April). Panoramic Television Viewing System. United States Patent (3,505,465).
Slater, D. (1996). Panoramic photography with fish eye lenses. Panorama, International Association of Panoramic Photographers 13(2,3).
Slater, J. (1932, October). Photography with the whole sky lens. American Photographer.
Southwell, D., A. Basu, M. Fiala, and J. Reyda (1996, August). Panoramic Stereo. Proc. of International Conference on Pattern Recognition.
Watanabe, M. and S. K. Nayar (1996, April). Telecentric optics for computational vision. Proc. of European Conference on Computer Vision.
Wood, R. W. (1906). Fish-eye views, and vision under water. Philosophical Magazine 12(Senes 6), 159–162.
Xiong, Y. and K. Turkowski (1997, June). Creating Image-Based VR Using a Self Calibrating Fisheye Lens. Proc. of IEEE Conf. on Computer Vision and Pattern Recognition.
Yagi, Y. and S. Kawato (1990). Panoramic Scene Analysis with Conic Projection. Proc. of International Conference on Robots and Systems (IROS).
Yamazawa, K., Y. Yagi, and M. Yachida (1995, May). Obstacle Avoidance with Omnidirectional Image Sensor Hyper Omni Vision. Proc. of IEEE International Conference on Robotics and Automation, 1062–1067.
Zheng, J. Y. and S. Tsuji (1990, June). Panoramic Representation of Scenes for Route Understanding. Proc. of the Tenth International Conference on Pattern Recognition 1, 161–167.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Nayar, S.K. (1998). Omnidirectional Vision. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_18
Download citation
DOI: https://doi.org/10.1007/978-1-4471-1580-9_18
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1582-3
Online ISBN: 978-1-4471-1580-9
eBook Packages: Springer Book Archive