Automatic structure and motion using a catadioptric camera

Methods for the robust and automatic estimation of scene structure and camera motion from image sequences ac-quired by a catadioptric camera are described. A first esti-mate of the complete geometry is obtained robustly from a rough knowledge of the two angles which defines the field of view. This approach is in contrast to previous work, which required mirror parameterization and only calculated (until now) the geometry of image pairs. Second, the additional knowledge of the mirror shape is enforced in the estimation. Both steps have become tractable thanks to the introduction of bundle adjustments for central and non-central cameras. Finally, the system is presented as a whole, and many long image sequences are automatically reconstructed to show the qualities of the approach. 1