Catadioptric System for

Panoramic Vision

Figure 1: Catadioptric system and its mounting on top of a Labmate.

Detailed view of the setup

• Click here to have an all around view of the setup.

Images

• Examples of images acquired with the system.
  Some tests performed with different cameras and different camera to mirror distances.

Video

• Corridor sequence:
      original images (avi 839kb) ,
      unwarping to panoramic view (avi 801kb) ,
      unwarping to Bird's Eye View 16m x 16m (avi 809kb) and
      unwarping to Bird's Eye View 8m x 8m (avi 833kb) .

Software

• A simple matlab example on dewarping omnidirectional images to panoramic and bird's eye views.
  The code is based on previously computed LookUp Tables (LUTs).
  The LUTs were built using zero order interpolation (to our applications
  this is ok but in some cases it is important to use higher order interpolation).

Applications

• This vision sensor is used e.g. in performing Visual Path Following experiments .

Institute for Systems and Robotics , Computer and Robot Vision Lab

Last update Jul02: J. Gaspar, e-mail: jag@isr.ist.utl.pt ,
 www: http://www.isr.ist.utl.pt/~jag