全方位视觉的空间和摄像机路径重建

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摘要翻译：
本文研究了由全方位摄像机拍摄的图像序列重建场景和摄像机运动的反问题。我们的结构从运动结果给出了重建是唯一的尖锐条件。例如，如果在一般位置上有三个点，并且在一般位置上有三个全方位摄像机，那么在相似程度上唯一的重建是可能的。然后我们考虑了m个摄像机和n个点的重建问题，其中n和m可以很大，用最小二乘法求解超定系统。该重建是稳健的，并推广到动态环境的情况，其中地标可以在电影捕捉期间移动。该结果可能应用于计算机辅助场景重建、三维扫描、自主机器人导航、医学层析成像和城市重建。
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英文标题：
《Space and camera path reconstruction for omni-directional vision》
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作者：
Oliver Knill and Jose Ramirez-Herran
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最新提交年份：
2007
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分类信息：

一级分类：Computer Science        计算机科学
二级分类：Computer Vision and Pattern Recognition        计算机视觉与模式识别
分类描述：Covers image processing, computer vision, pattern recognition, and scene understanding. Roughly includes material in ACM Subject Classes I.2.10, I.4, and I.5.
涵盖图像处理、计算机视觉、模式识别和场景理解。大致包括ACM课程I.2.10、I.4和I.5中的材料。
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一级分类：Computer Science        计算机科学
二级分类：Artificial Intelligence        人工智能
分类描述：Covers all areas of AI except Vision, Robotics, Machine Learning, Multiagent Systems, and Computation and Language (Natural Language Processing), which have separate subject areas. In particular, includes Expert Systems, Theorem Proving (although this may overlap with Logic in Computer Science), Knowledge Representation, Planning, and Uncertainty in AI. Roughly includes material in ACM Subject Classes I.2.0, I.2.1, I.2.3, I.2.4, I.2.8, and I.2.11.
涵盖了人工智能的所有领域，除了视觉、机器人、机器学习、多智能体系统以及计算和语言（自然语言处理），这些领域有独立的学科领域。特别地，包括专家系统，定理证明（尽管这可能与计算机科学中的逻辑重叠），知识表示，规划，和人工智能中的不确定性。大致包括ACM学科类I.2.0、I.2.1、I.2.3、I.2.4、I.2.8和I.2.11中的材料。
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英文摘要：
  In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the reconstruction is unique. For example, if there are three points in general position and three omni-directional cameras in general position, a unique reconstruction is possible up to a similarity. We then look at the reconstruction problem with m cameras and n points, where n and m can be large and the over-determined system is solved by least square methods. The reconstruction is robust and generalizes to the case of a dynamic environment where landmarks can move during the movie capture. Possible applications of the result are computer assisted scene reconstruction, 3D scanning, autonomous robot navigation, medical tomography and city reconstructions.
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PDF链接：
https://arxiv.org/pdf/0708.2442

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关键词：全方位 摄像机 Construction Constructing Applications omni 系统 where 导航 three