A unified framework for line extraction in dioptric and catadioptric cameras

Abstract

Many of the omnidirectional visual systems have revolution symmetry and, consequently, they can be described by the radially symmetric distortion model. Following this projection model, straight lines are projected on curves called line-images. In this paper we present a novel unified framework to deal with these line-images directly on the image which is valid for any central system. In order to validate this framework we have developed a method to extract line-images with a 2-points RANSAC, which makes use of the camera calibration. The proposed method also gives the adjacent regions of line-images which can be used for matching purposes. The line-images extractor has been implemented and tested with simulated and real images. © 2013 Springer-Verlag.