Robust feature location estimation for a multi-camera system

Abstract

This Project mainly deals with the distortion modeling; SIFT Features extraction and estimation of feature locations using only the bearing information. The Point Grey Research Ladybug 2 Camera System is used as the experimental equipment for this project, which is an omnidirectional multicamera system having six cameras. With this camera system the images up to 360 degrees can be taken, but resultant images form this camera has severe radial and tangential distortions, so estimated feature locations deviates much from the actual world coordinates. The distorted images were undistorted based on the computed intrinsic, extrinsic and distortion parameters (radial and tangential).