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Communication Dans Un Congrès Année : 2016

Direct Fisheye Stereo Correspondence Using Enhanced Unified Camera Model and Semi-Global Matching Algorithm

Résumé

In this paper, it is shown that the Enhanced Unified Camera Model, which is used to model fisheye cameras, projects straight lines into conic sections. Then a way to find equations of straight line projections is proposed. The method is applied to epipolar curves to adapt the Semi-Global Matching algorithm to fisheye stereo systems to compute a dense direct stereo correspondence without undistortion and rectification of fisheye images. It is done by efficient image sampling along an epipolar curve, using an algorithm for rasterization of implicit curves. A C++ implementation is available online.
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Dates et versions

hal-01722268 , version 1 (03-03-2018)
hal-01722268 , version 2 (11-09-2024)

Identifiants

Citer

Bogdan Khomutenko, Gaëtan Garcia, Philippe Martinet. Direct Fisheye Stereo Correspondence Using Enhanced Unified Camera Model and Semi-Global Matching Algorithm. ICARCV 2016, Nov 2016, Phuket, Thailand. ⟨10.1109/icarcv.2016.7838761⟩. ⟨hal-01722268v2⟩
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