MOTION ESTIMATION USING CENTRAL PANORAMIC CAMERAS

Abstract

This paper addresses the motion estimation from an image sequence taken by a panoramic camera mounted on a mobile robot. We expose how to design panoramic camera with tractable geometry. We combine a perspective camera with a hyperbolic mirror. We show that such camera allow motion estimation in the same way as perspective cameras do. Experiments demonstrate that a motion estimation is better using panoramic camera than perspective camera. We present experiments with a real sensor.