Catadioptric Stereo with Planar Mirrors: Multiple-view Geometry and Camera Localization

  • Gian Luca Mariottini
  • Stefano Scheggi
  • Fabio Morbidi
  • Domenico Prattichizzo
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 401)


Planar catadioptric stereo (PCS) vision sensors consist of a pinhole camera and two or more planar mirrors. PCS systems have recently received an increasing attention in computer vision and have a promising applicability in robotics, since the use of mirrors allows to obtain a stereo view without the need of exact multi-camera synchronization and stereo calibration. The chapter presents a rigorous analytical treatment of the imaging geometry of PCS sensors and introduce new multiple-view properties that are instrumental in addressing the camera localization problem. Original results on mirror calibration are also provided. Extensive simulation and real-data experiments conducted with an eye-in-hand robot illustrate the theory and show the effectiveness of the proposed designs.


Fundamental Matrix Planar Mirror Perspective Projection Pinhole Camera Virtual View 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer London 2010

Authors and Affiliations

  • Gian Luca Mariottini
    • 1
  • Stefano Scheggi
    • 2
  • Fabio Morbidi
    • 2
  • Domenico Prattichizzo
    • 2
  1. 1.Department of Computer Science and EngineeringUniversity of MinnesotaMinneapolisUSA
  2. 2.Department of Information EngineeringUniversity of SienaSienaItaly

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