A closed form unwrapping method for a spherical omnidirectional view sensor

Nguan Soon Chong, Yau Hee Kho, M. L. Dennis Wong*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


This article proposes a novel method of image unwrapping for spherical omnidirectional images acquired through a non-single viewpoint (NSVP) omnidirectional sensor. It has three key steps i.e. (1) calibrate the camera to obtain parameters describing the spherical omnidirectional sensor, (2) map world points onto mirror points and, subsequently, onto image points, and (3) set up the projection plane for the final image unwrapping. Based on the projection plane selected, the algorithm is able to produce three common forms of unwrapping, namely cylindrical panoramic, cuboid panoramic, and ground plane view using closed form mapping equations. The motivation for developing this technique is to address the complexity in using a NSVP omnidirectional sensor and ultimately encouraging its application in robotics field. One of the main advantages of a NSVP omnidirectional sensor is that the mirror can often be obtained at a lower price as compared to the single viewpoint counterpart.

Original languageEnglish
Article number5
JournalEURASIP Journal on Image and Video Processing
Publication statusPublished - 2013


  • Non-single viewpoint
  • Omnidirectional view image unwrapping
  • Omnidirectional view sensor
  • Spherical mirror

ASJC Scopus subject areas

  • Signal Processing
  • Information Systems
  • Electrical and Electronic Engineering


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