7 May 2010 Monocular panoramic 3D reconstruction based on a particle filter
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This paper adresses the issue of generating a panoramic view and a panoramic depth maps using only a single camera. The proposed approach first estimates the egomotion of the camera. Based on this information, a particle filter approximates the 3D structure of the scene. Hence, 3D scene points are modeled probabilistically. These points are accumulated in a cylindric coordinate system. The probabilistic representation of 3D points is used to handle the problem of visualizing occluding and occluded scene points in a noisy environment to get a stable data visualization. This approach can be easily extended to calibrated multi-camera applications (even with non-overlapping field of views).
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Frank Pagel, Frank Pagel, } "Monocular panoramic 3D reconstruction based on a particle filter", Proc. SPIE 7692, Unmanned Systems Technology XII, 76921S (7 May 2010); doi: 10.1117/12.850697; https://doi.org/10.1117/12.850697

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