Determining Radius and Position of a Sphere from a Single Catadioptric Image
In order to improve robot capabilities related to playing with a flying ball, reliable methods to localize a sphere in the 3D space are needed. When the radius of the sphere is known, it can be localized by analyzing a single, perspective image of it. When the sphere radius is not known, a single pe...
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| Veröffentlicht in: | Journal of intelligent & robotic systems 2008-08, Vol.52 (3-4), p.447-463 |
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| container_issue | 3-4 |
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| container_title | Journal of intelligent & robotic systems |
| container_volume | 52 |
| creator | Caglioti, Vincenzo Gasparini, Simone |
| description | In order to improve robot capabilities related to playing with a flying ball, reliable methods to localize a sphere in the 3D space are needed. When the radius of the sphere is known, it can be localized by analyzing a single, perspective image of it. When the sphere radius is not known, a single perspective image is not sufficient. In this paper we consider axial-symmetric catadioptric cameras, i.e. devices consisting of an axial-symmetric mirror plus a perspective camera, whose viewpoint is on the symmetry axis. If the viewing rays are not all concurrent at a single point, this camera is said to be non-central. We show that, using a noncentral axial-symmetric catadioptric camera, a single image is sufficient to determine both the position of a sphere and its radius. Some preliminary experimental results are also presented. |
| doi_str_mv | 10.1007/s10846-008-9225-6 |
| format | Article |
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| subjects | Artificial Intelligence Cameras Computer Science Computer Vision and Pattern Recognition Control Devices Electrical Engineering Engineering Flight Flying Mechanical Engineering Mechatronics Robotics Robots Symmetry Three dimensional |
| title | Determining Radius and Position of a Sphere from a Single Catadioptric Image |
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