Polydioptric Cameras: New Eyes for Structure from Motion

TitlePolydioptric Cameras: New Eyes for Structure from Motion
Publication TypeBook Chapters
Year of Publication2002
AuthorsNeumann J, Fermüller C, Aloimonos Y
EditorVan Gool L
Book TitlePattern RecognitionPattern Recognition
Series TitleLecture Notes in Computer Science
Pagination618 - 625
PublisherSpringer Berlin / Heidelberg
ISBN Number978-3-540-44209-7

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.