A Fast Detector of Line Images Acquired by an Uncalibrated Paracatadioptric Camera

We propose a new method to simultaneously detect the images of lines acquired by an uncalibrated paracatadioptric camera and estimate its parameters. This method is very efficient thanks to our new linear formulation of the constraint for the paracatadioptric line images and to some proposed algorithmic improvements. The line images that are straight lines and circular arcs are detected similarly, after being projected to a virtual paraboloid. Robust estimation methods are then used to find which detected line images are consistent with the best set of camera parameters. We provide experimental results that demonstrate the efficiency and robustness of the proposed method