Closed form spherical omnidirectional image unwrapping

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


This paper proposed a novel method of image unwrapping for spherical omnidirectional images acquired through a non-single viewpoint omnidirectional sensor. The proposed method comprises of 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. Depending on the projection plane selected, the algorithm is able to produce either the cylindrical panoramic, the cubloid panoramic, or the ground plane view using closed form mapping equations derived herein. The motivation for developing this technique is to address the complexity in using non-single viewpoint omnidirectional sensor; and ultimately promotes its adoption in robotics.

Original languageEnglish
Title of host publicationIET Conference on Image Processing, IPR 2012
ISBN (Electronic)9781849196321
Publication statusPublished - 2012
EventIET Conference on Image Processing, IPR 2012 - London, United Kingdom
Duration: 3 Jul 20124 Jul 2012


ConferenceIET Conference on Image Processing, IPR 2012
Country/TerritoryUnited Kingdom


  • image unwrapping
  • non-single viewpoint
  • Spherical omnidirectional sensor

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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