Fiducial Planning for Error-Bounded Pose Estimation of a Panoramic Camera in Large Environments

INTRODUCTION Panoramic image sensors are becoming increasingly popular because they capture large portions of the visual field in a single image. These cameras are particularly effective for capturing and navigating through large, complex 3D environments. Existing vision-based camera pose algorithms are derived for standard field-ofview (FOV) cameras, but few algorithms have been proposed to take advantage of the larger FOV of panoramic cameras. Furthermore, while existing camera pose estimation algorithms work well in small spaces, they do not scale well to large, complex 3D spaces consisting of a number of interconnected spaces.