2,768 research outputs found
Graph-Based Classification of Omnidirectional Images
Omnidirectional cameras are widely used in such areas as robotics and virtual
reality as they provide a wide field of view. Their images are often processed
with classical methods, which might unfortunately lead to non-optimal solutions
as these methods are designed for planar images that have different geometrical
properties than omnidirectional ones. In this paper we study image
classification task by taking into account the specific geometry of
omnidirectional cameras with graph-based representations. In particular, we
extend deep learning architectures to data on graphs; we propose a principled
way of graph construction such that convolutional filters respond similarly for
the same pattern on different positions of the image regardless of lens
distortions. Our experiments show that the proposed method outperforms current
techniques for the omnidirectional image classification problem
Omnidirectional Stereo Vision for Autonomous Vehicles
Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications
Real-Time Multi-Fisheye Camera Self-Localization and Egomotion Estimation in Complex Indoor Environments
In this work a real-time capable multi-fisheye camera self-localization and egomotion estimation framework is developed. The thesis covers all aspects ranging from omnidirectional camera calibration to the development of a complete multi-fisheye camera SLAM system based on a generic multi-camera bundle adjustment method
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