Skip to main content
SpringerLink
Log in

Omnidirectional Camera

  • Reference work entry
  • First Online:
Computer Vision

Synonyms

Catadioptric camera; Fisheye camera; Panoramic camera; Spherical camera; Wide-angle camera

Related Concepts

Camera Calibration; Camera Parameters (Intrinsic, Extrinsic); Epipolar Geometry; Intrinsic Parameters; Omnidirectional Vision; Structure-from-Motion (SfM)

Definition

An omnidirectional camera (from omni, meaning all) is a camera with a 360-degree field of view in the horizontal plane or with a visual field that covers a hemisphere or (approximately) the entire sphere.

Background

Most commercial cameras can be described as pinhole cameras, which are modeled by a perspective projection. However, there are projection systems whose geometry cannot be described using the conventional pinhole model because of the very high distortion introduced by the imaging device. Some of these systems are omnidirectional cameras.

There are several ways to build an omnidirectional camera. Dioptric cameras use a combination of shaped lenses (e.g., fisheye lenses; see Fig. 1a) and can reach...

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 649.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 899.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. . Yagi Y, Kawato S (1990) Panorama scene analysis with conic projection. In: IEEE international conference on intelligent robots and systems, workshop on towards a new frontier of applications, Ibaraki

    Book  Google Scholar 

  2. Benosman R, Kang, S (2001) Panoramic vision: sensors, theory, and applications. Springer, New York

    Book  MATH  Google Scholar 

  3. Daniillidis K, Klette R (2006) Imaging beyond the pinhole camera. Springer, New York

    Book  Google Scholar 

  4. . Scaramuzza D (2008) Omnidirectional vision: from calibration to robot motion estimation, PhD thesis n. 17635, ETH Zurich

    Google Scholar 

  5. Sturm P, Ramalingam S, Tardif J, Gasparini S, Barreto J (2010) Camera models and fundamental concepts used in geometric computer vision. FInt J Comput Vis 35(2):175–196

    Google Scholar 

  6. . Baker S, Nayar S, A theory of single-viewpoint catadioptric image formation. Int J Comput Vis 35(2):175–196

    Google Scholar 

  7. . Geyer C, Daniilidis K (2000) A unifying theory for central panoramic systems and practical applications. In: European conference on computer vision (ECCV), Dublin

    Google Scholar 

  8. . Barreto J (2001) Issues on the geometry of central catadioptric image formation, Proceedings of the 2001 IEEE computer society conference on computer vision and pattern recognition (CVPR)

    Google Scholar 

  9. Ying X, Hu Z (2004) Can we consider central catadioptric cameras and fisheye cameras within a unified imaging model? In: European conference on computer vision (ECCV). Lecture notes in computer science. Springer, Berlin

    Google Scholar 

  10. . Scaramuzza D, Martinelli A, Siegwart R (2006) A flexible technique for accurate omnidirectional camera calibration and structure from motion. In: IEEE international conference on computer vision systems, New York

    Book  Google Scholar 

  11. . Scaramuzza D, Martinelli A, Siegwart R (2006) A toolbox for easy calibrating omnidirectional cameras. In: IEEE international conference on intelligent robots and systems, Beijing

    Google Scholar 

  12. . Barreto J, Omnidirectional camera calibration toolbox for matlab (ocamcalib toolbox). http://www.isr.uc.pt/ jpbar/CatPack/pag1.htm

  13. . Mei C, Omnidirectional camera calibration toolbox for matlab. http://homepages.laas.fr/ cmei/index.php/Toolbox

  14. . Mei C, Rives P(2007) Single view point omnidirectional camera calibration from planar grids. In: IEEE international conference on robotics and automation, Roma

    Book  Google Scholar 

  15. Barreto J, Araujo H (2005) Geometric properties of central catadioptric line images and their application in calibration. IEEE Trans Pattern Anal Mach Intell 27(8): 1237–1333

    Article  Google Scholar 

  16. Barreto J, Araujo H (2006) Fitting conics to paracatadioptric projection of lines. Comput Vis Image Underst 101(3): 151–165

    Article  Google Scholar 

  17. . Scaramuzza D, Omnidirectional camera calibration toolbox for matlab (ocamcalib toolbox) Google for “ocamcalib”. https://sites.google.com/site/scarabotix/ocamcalib-toolbox

  18. . Blosch M, Weiss S, Scaramuzza D, Siegwart R (2010) Vision based mav navigation in unknown and unstructured environments. IEEE international conference on robotics and automation, Anchorage

    Book  Google Scholar 

  19. . Bosse M, Rikoski R, Leonard J, Teller S (2002) Vanishing points and 3d lines from omnidirectional video. In: International conference on image processing, Rochester

    Book  Google Scholar 

  20. . Corke P, Strelow D, Singh S (2004) Omnidirectional visual odometry for a planetary rover. In: IEEE/RSJ international conference on intelligent robots and systems, Sendai

    Book  Google Scholar 

  21. Scaramuzza D, Siegwart R (2008) Appearance-guided monocular omnidirectional visual odometry for outdoor ground vehicles. IEEE Trans Robot 24(5): 1015–1026

    Article  Google Scholar 

  22. . Scaramuzza D, Fraundorfer F, Siegwart R (2009) Real-time monocular visual odometry for on-road vehicles with 1-point ransac. In: IEEE international conference on robotics and automation, Kobe

    Book  Google Scholar 

  23. . Tardif J, Pavlidis Y, Daniilidis K (2008) Monocular visual odometry in urban environments using an omnidirectional camera. In: IEEE/RSJ international conference on intelligent robots and systems, Nice

    Book  Google Scholar 

  24. Scaramuzza D, Fraundorfer F, Pollefeys M (2010) Closing the loop in appearance-guided omnidirectional visual odometry by using vocabulary trees. Robot Auton Syst J. 58(6):820–827. Elsevier

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Artificial Intelligence Lab - Robotics and Perception Group, Department of Informatics, University of Zurich, Zurich, Switzerland

    Davide Scaramuzza

Authors
  1. Davide Scaramuzza
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Institute of Industrial Science, The University of Tokyo, Tokyo, Japan

    Katsushi Ikeuchi

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Science+Business Media New York

About this entry

Cite this entry

Scaramuzza, D. (2014). Omnidirectional Camera. In: Ikeuchi, K. (eds) Computer Vision. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-31439-6_488

Download citation

Publish with us

Policies and ethics

Search

Navigation