Abstract

Catadioptric cameras are a popular type of omnidirectional imaging system. Their imaging and multi-view geometry has been exten- sively studied; epipolar geometry for instance, is geometrically speaking, well understood. However, the existence of a bilinear matching constraint and an associated fundamental matrix, has so far only been shown for the special case of para-catadioptric cameras (consisting of a paraboloidal mirror and an orthographic camera). The main goal of this work is to is to show the existence of a general 15 x 15 fundamental matrix. This is obtain such results for all central catadioptric cameras. Our main result based on and completed by a number of other results, e.g. the formulation of general catadioptric pro jection matrices and plane homographies.