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Ta b l e 1 . 1
Rotational and translational displacements considered in Figures 1.10(b-c). The
mirror angle
θ = 60 deg
R
c
w
t
c
w
Roll
[deg]
Pitch
[deg]
Yaw
[deg]
[
m
]
0.377 ]
T
a
−
4.00
−
3.03
−
37.07
[ 0.147
−
0.824
0.610 ]
T
b
8.16
−
3.49
−
43.13
[ 0.157
−
0.824
0.532 ]
T
c
13.99
−
20.87
−
40.57
[ 0.432
−
0.960
0.408 ]
T
d
−
6.38
−
9.01
−
51.60
[ 0.106
−
0.613
0.552 ]
T
e
−
3.63
−
3.46
−
43.73
[ 0.215
−
0.824
0.535 ]
T
f
7.74
−
13.55
−
35.60
[ 0.313
−
0.960
1.6
Conclusions and Future Work
The chapter presents a systematic study of the imaging geometry of PCS vision sen-
sors. New algebraic results on the multiple-view geometry for the case of static and
moving cameras (multi-view PCS) are introduced. On the basis of these new results,
we addressed both the image-based camera localization and mirror calibration prob-
lems. Extensive simulation and experimental results have been presented in order to
illustrate the theory and show the applicability of the proposed algorithms in real
scenarios.
The extension of our results to multiple camera networks is a subject of future re-
search. Future investigations will also focus on the 3D scene reconstruction problem
and will show the connection between PCS sensors and the trifocal geometry [9].
Acknowledgements.
The authors are grateful to Francesco Chinello for his help in the
preparation of the experimental setup.
References
[1] Armangue, X., Salvi, J.: Overall View Regarding Fundamental Matrix Estimation. Im-
age Vision Comput. 21(2), 205-220 (2003)
[2] Bouguet, J.: Camera Calibration Toolbox for Matlab (2007),
http://www.vision.caltech.edu/bouguetj
[3] Boult, T., Nayar, S.: A Handy Stereo Camera. University of Columbia and Colorado
(2000),
http://vast.uccs.edu/
˜
tboult/VSAM.html/#stereo
[4] Geyer, C., Daniilidis, K.: Catadioptric Camera Calibration. In: Proc. 7th IEEE Int.
Conf. Comp. Vis., vol. 1, pp. 398-404 (1999)
[5] Gluckman, J., Nayar, S.: Planar Catadioptric Stereo: Geometry and Calibration. In:
Proc. IEEE Conf. Comp. Vis. and Pattern Rec., vol. 1, pp. 22-28 (1999)
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