Author: Häne
Year: 2014
- adaptation of plane sweeping (R.T. Collins - 96) alg on fisheye images
- requirement: projection and unprojection done efficiently
- in comparison to the rectification approach, plane sweeping can be done on multiple images
- suitable for GPU implementations
- Use of unified projection model
- Camera projection model
$[u,v] = K D( h( \xi, X))$ ,$D$ to take distortions into account and$\xi$ is a scalar parameter that models the fisheye length - Use a reference image
$I_{ref}$ and a set of plane hypotheses$\Pi$ and each plane$\Pi_m$ defined by$[\mathbf{n}_m^T, d_m]$ - the planes are used as local reconstruction of the image => for each pixel of
$I_{ref}$ , the best plane is chosen - For each plane hypothesis
$\Pi_m$ , the whole image$I_n$ is projected on the plane through a warped image$I_m$ and an image dissimilarity (ZNCC) is computed between each warped image$I_m$ and$I_{ref}$ - An aggregated cost is computed to take into account several views and motion
- Finally winner takes all strategy: the plane
$\Pi_m$ with the lowest aggregated score is selected for each pixel - subpixel interpolation for smoothness between neighbouring planes
- Comment sont choisis les plans? Ne marche qu'en envirronnement structuré mais pourquoi pas