Epipolar curves computation for a special central catadioptric omnidirectional Camera

This paper discusses a special omnidirectional vision system which is composed by a hyperboloid mirror and a spherical mirror with combining a general perspective camera. By deriving the model of image formation of central catadioptric cameras in detail, we have calculate the epipolar curve constraint on corresponding image points in the two panoramic images and analyzed the feature of epipolar curves. Finally, the method is verified by experiments with real central catadioptric cameras. Experimental results show that the proposal method can get good epipolar curves rapidly and accurately, and is helpful to corresponding points matching of panoramic images in the task of stereo matching.