Structure From Omnidirectional Stereo Rig Motion For City Modeling

This paper deals with a step towards a 3D reconstruction system for city modeling from onmidirectional video sequences using structure from motion together with stereo constraints. We concentrate on two issues. First, we show how the tracking and reconstruction paradigm were adapted to use onmidirectional images taken by lenses with 180 degrees field of view. This concerns mainly camera calibration transforming the pixel locations into rays and solving the minimal problem for 3D-to-2D matches using RANSAC. Secondly, we compare the results of the reconstruction using additional stereo constraints to the results when these constraints are not used and show that they are needed to make the reconstruction stable. Performance of the system is demonstrated on a sequence of 870 images acquired while driving in a city.