Omnidirectional Vision

环绕感知对于通信中的身临其境感和机器人中的有效导航和监视至关重要。为了实现环绕感知，新的全向系统为我们重新思考图像获取和分析的方式提供了新的动力。本项目将集中于两个基本问题：反射全向传感器的固有几何特性和非均匀分辨率全向图像的空间变信号分析。PI已经在初步工作中证明了每一个反射系统都可以被证明是等价于从虚球到实像平面的广义立体投影。他打算为所有反射系统开发一个统一的框架，其中传统的透视相机将只是一个特例，并详尽地研究反射表面上投影的不变量以及重建和运动估计的有效表示。由于平移不变处理不适用于全向图像的非均匀分辨率，反射设计需要一种新的信号理论处理方法。本研究将利用积分变换将二维信号映射到具有几乎均匀分辨率的平面的空间频域。研究将从简单的边缘检测扩展到模板匹配，再到全向图像的光流计算。

Surround perception is crucial for an immersive sense of presence in communication and for efficient navigation and surveillance in robotics. To enable surround perception, new omnidirectional systemsprovide a new impetus for us to rethink the way images are acquired and analyzed. This project will be focused on two fundamental issues: the intrinsic geometric properties of catadioptric omnidirectional sensors and the space-variant signal analysis of omnidirectional images with non-uniform resolution. The PI has proven in the preliminary work that every catadioptric system can be shown to be equivalent to a generalized stereographic projection from a virtual sphere to the real image plane. He intends to develop a unifying framework for all catadioptric systems, where conventional perspective cameras will be just a special case, and exhaustively study invariants of the projections on reflective urfaces as well as efficient representations for reconstruction andmotion estimation. Catadioptric designs need a new signal-theoretic treatment sinceshift-invariant processing does not apply in the non-uniform resolution of omnidirectional images. This research will make use of integral transforms that map the 2D signal tothe spatial-frequency domain of a plane with virtually uniform resolution. The investigation will be extended from the simple edge detection to template matching and to the computation of optical flow in omnidirectional images.