METHOD FOR ESTIMATION OF OMNIDIRECTIONAL CAMERA MOTION

摘要

A position estimating method of an omnidirectional camera is provided to estimate position information of a camera accurately with regard to an actual image so that the information can be used efficiently in 3D structure restoration and 3D synthesization of a virtual object. Location information parameter of a camera is obtained(S10). A project model of the omni-directional camera is estimated. A locus of a contour orthogonally projected on 2D image plane of the camera is calculated after a 3D straight line is mapped on a hemisphere of the camera. An angle error function is calculated by using a 3D vector and a normal vector. The 3D vector corresponds to a point on plural contours of two images. Predetermined points at two image viewing points are reverse-projected to make the 3D vector. The normal vector of an epipolar plane is formed by a viewing point of the image and the vector. An initial value of a position information variable number of the camera is calculated. The position information variable number has the angle error function value as a minimum value. The position of the omni-directional camera is determined(S20).