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Monocular panoramic 3D reconstruction based on a particle filter

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Postprint urn:nbn:de:0011-n-1374424 (4.1 MByte PDF)
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Copyright 2010 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
Erstellt am: 19.8.2010

Gerhart, G.R. ; Society of Photo-Optical Instrumentation Engineers -SPIE-, Bellingham/Wash.:
Unmanned systems technology XII : 6 - 9 April 2010, Orlando, Florida, United States. Part of SPIE Defense, Security + Sensing
Bellingham, WA: SPIE, 2010 (Proceedings of SPIE 7692)
ISBN: 978-0-8194-8156-6
Paper 76921S, 12 S.
Conference "Unmanned systems technology" <12, 2010, Orlando/Fla.>
Defense, Security, and Sensing Exhibition <2010, Orlando/Fla.>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
reconstruction; particle filter; monocular vision; omnidirectional vision

This paper adresses the issue of generating a panoramic view and a panoramic depth maps using only a single camera. The proposed approach first estimates the egomotion of the camera. Based on this information, a particle filter approximates the 3D structure of the scene. Hence, 3D scene points are modeled probabilistically. These points are accumulated in a cylindric coordinate system. The probabilistic representation of 3D points is used to handle the problem of visualizing occluding and occluded scene points in a noisy environment to get a stable data visualization. This approach can be easily extended to calibrated multi-camera applications (even with non-overlapping field of views).