Omni-Rig sensors: What can be done with a non-rigid vision platform?

A. Shashua*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

We describe the principles of building a moving vision platform (a Rig) that once calibrated can thereon self-adjust to changes in its internal configuration and maintain an Euclidean representation of the 3D world using only projective measurements. Formally, we address the question of how to obtain an invariant 3D projective representation from a dynamic collection of cameras. We show that the maximal generality is reached when the rig consists of 5 cameras whose center of projection remain fixed relative to each other during the motion. In other words, the non-rigid component motion may consist of change of internal parameters and relative camera orientations. The configuration reduces to 3 views when the Rig is built using a single physical camera with half-mirrors (beam-splitters) for creating 3 distinct views. We also briefly discuss 2-view configurations using half-mirrors and the principle behind adapting the configuration to allow for zoom lenses in the system. The new research paradigm on non-rigid rigs (we term "Omni-Rig") is applicable to the design of Vision-based sensors that after calibration can move in space while changing critical elements of their configuration-such as changing focus on the fly, zoom, relative camera orientation and inclination of focal plane to object's surface orientation-without the need for recalibration, i.e., using only projective calculations throughout its motion.

Original languageAmerican English
Title of host publicationProceedings - 4th IEEE Workshop on Applications of Computer Vision, WACV 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages174-179
Number of pages6
ISBN (Electronic)0818686065, 9780818686061
DOIs
StatePublished - 1998
Event4th IEEE Workshop on Applications of Computer Vision, WACV 1998 - Princeton, United States
Duration: 19 Oct 199821 Oct 1998

Publication series

NameProceedings - 4th IEEE Workshop on Applications of Computer Vision, WACV 1998
Volume1998-October

Conference

Conference4th IEEE Workshop on Applications of Computer Vision, WACV 1998
Country/TerritoryUnited States
CityPrinceton
Period19/10/9821/10/98

Bibliographical note

Publisher Copyright:
© 1998 IEEE.

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