This paper presents a method to reconstruct a surface from images of a scene taken by an equiangular catadioptric camera. Such a camera is convenient for several reasons: it is low cost, and almost all visible parts of the scene are projected in a single image. Firstly, the camera parameters and a sparse cloud of 3d points are simultaneously estimated. Secondly, a triangulated surface is robustly estimated from the cloud. Both steps are automatic. Experiments are provided from hundreds of photographs taken by a pedestrian. In contrast to other methods working in similar experimental conditions, ours provides a manifold surface in spite of the difficult (passive and sparse) data.


Interest Point Delaunay Triangulation Camera Parameter Bundle Adjustment Reprojection Error 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Shuda Yu
    • 1
  • Maxime Lhuillier
    • 1
  1. 1.LASMEA UMR 6602UBP/CNRS, Campus des CézeauxAubièreFrance

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