A Method for Reconstructing Structure from Omnidirectional View Sequence without Feature Matching
Daniel Moldovan, Takahiro Miyashita, Hiroshi Ishiguro · 2002
This paper describes a new method for directly reconstructing the 2D structure of an environment from image sequences taken by an omnidirectional camera moving on a straight line. By exploiting the characteristics of the omnidirectional images generated in an immersive way on both sides of the camera line, we synthesize a 3-0 visual representation of the environment. Slices of this volume directly encode changes due to motion of the camera. The 20.~tructure, parallel to the ground plane, will emerge by analyzing the 3-D visual representation, without using the feature matching process needed in multiple camera stereo. We present the theory behind this technique, describe two initial experimentation for indoor and outdoor environments, and discuss our preliminary results. 1