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Omnidirectional Vision SystemsThis work focuses on central catadioptric systems, from the early step of calibration to high level tasks such as 3D information retrieval. The book opens with a thorough introduction to the sphere camera model, along with an analysis of the relation between this model and actual central catadioptric systems. Then, a new approach to calibrate any single viewpoint catadioptric camera is described. This is followed by an analysis of existing methods for
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