TY - CHAP T1 - Polydioptric Cameras: New Eyes for Structure from Motion T2 - Pattern RecognitionPattern Recognition Y1 - 2002 A1 - Neumann, Jan A1 - Fermüller, Cornelia A1 - Aloimonos, J. ED - Van Gool,Luc AB - We examine the influence of camera design on the estimation of the motion and structure of a scene from video data. Every camera captures a subset of the light rays passing though some volume in space. By relating the differential structure of the time varying space of light rays to different known and new camera designs, we can establish a hierarchy of cameras. This hierarchy is based upon the stability and complexity of the computations necessary to estimate structure and motion. At the low end of this hierarchy is the standard planar pinhole camera for which the structure from motion problem is non-linear and ill-posed. At the high end is a camera, which we call the full field of view polydioptric camera, for which the problem is linear and stable. We develop design suggestions for the polydioptric camera, and based upon this new design we propose a linear algorithm for structure-from-motion estimation, which combines differential motion estimation with differential stereo. JA - Pattern RecognitionPattern Recognition T3 - Lecture Notes in Computer Science PB - Springer Berlin / Heidelberg VL - 2449 SN - 978-3-540-44209-7 UR - http://dx.doi.org/10.1007/3-540-45783-6_74 ER -