E-CNN: Accurate Spherical Camera Rotation Estimation via Uniformization of Distorted Optical Flow Fields

Abstract

Spherical cameras, which can acquire all-round information, are effective to estimate rotation for robotic applications. Recently, Convolutional Neural Networks have shown great robustness in solving such regression problems. However they are designed for planar images and cannot deal with the non-uniform distortion present in spherical images, when expressed in the planar equirectangular projection. This can lower the accuracy of motion estimation. In this research, we propose an Equirectangular-Convolutional Neural Network (E-CNN) to solve this issue. This novel network regresses 3D spherical camera rotation by uniformizing distorted optical flow patterns in the equirectangular projection. We experimentally show that this results in consistently lower error as opposed to learning from the distorted optical flow.