01 - Introduction à la vision panoramique catadioptrique

Abstract

Increase the field of view of vision systems in order to obtain panoramic (omnidirectional) images is the objective of the
\nomnidirectional vision. Many solutions have been imagined and the catadioptric approach holds a privileged place.
\nMany applications, in particular in mobile robotics, have proved the benefits of this artificial visual perception approach.
\nThey also raised a multitude of theoretical and practical questions. After an "empirical" period for the design of these
\ncameras, numerous works have dealt with the geometrical and optical formalization and modelling. The objective of this
\npaper is to introduce the omnidirectional vision and to give a fast outline of the existing geometrical models and
\ncalibration methods in order to make easier the reading of the articles proposed in this journal. The papers published
\nhere will be referred, when it is necessary, to locate them in comparison with the used geometrical models.