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Figure 5 | EURASIP Journal on Image and Video Processing

Figure 5

From: A closed form unwrapping method for a spherical omnidirectional view sensor

Figure 5

Real world image acquisition model. The actual perspective camera collects light rays that enter its effective pupil introduced by a perspective lens. The intensity of the light rays is then measured by the CCD/CMOS sensor plane placed behind the effective pupil. Distance of the effective pupil to the sensor plane is the effective focal length. The effective pupil is equivalent to the centre of projection, C, of the perspective camera model where the image plane, I, can be imagined to be located further behind the sensor plane at the distance of its focal distance, f, forming I flipped . As shown in the figure, the perspective camera model is placed overlapping the real world image acquisition figure with the image plane placed in front of the centre of projection. Based on the obtained focal distance, an equivalent virtual sphere mirror is visualised to be intersecting the image plane at a constrained distance, h. The projection of the sphere on the image plane can also be visualised as a compressed version of the virtual sphere. Note that parameter R and h are remapped from the actual spherical mirror (in Figure 4) onto the virtual sphere.

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