Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


G. Caron, E. Mouaddib, E. Marchand. 3D model based tracking for omnidirectional vision: a new spherical approach. Robotics and Autonomous Systems, 60(8):1056-1068, August 2012.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow


The current work addresses the problem of 3D model tracking in the context of monocular and stereo omnidirectional vision in order to estimate the camera pose. To this end, we track 3D objects modeled by line segments because the straight line feature is often used to model the environment. Indeed, we are interested in mobile robot navigation using omnidirectional vision in structured environments. In the case of omnidirectional vision, 3D straight lines are projected as conics in omnidirectional images. Under certain conditions, these conics may have singularities. In this paper, we present two contributions. We, first, propose a new spherical formulation of the pose estimation withdrawing singularities, using an object model composed of lines. The theoretical formulation and the validation on synthetic images show thus the new formulation clearly outperforms the former image plane one. The second contribution is the extension of the spherical representation to the stereovision case. We consider in the paper a sensor which combines a camera and four mirrors. Results in various situations show the robustness to illumination changes and local mistracking. As a final result, the proposed new stereo spherical formulation allows to localize online a robot indoor and outdoor whereas the classical formulation fails


Eric Marchand

BibTex Reference

   Author = {Caron, G. and Mouaddib, E. and Marchand, E.},
   Title = {3D model based tracking for omnidirectional vision: a new spherical approach},
   Journal = {Robotics and Autonomous Systems},
   Volume = {    60},
   Number = {8},
   Pages = {1056--1068},
   Month = {August},
   Year = {2012}

EndNote Reference [help]

Get EndNote Reference (.ref)