{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/the-double-sphere-camera-model","title":"The Double Sphere Camera Model","arxiv_id":"1807.08957","date":"2018-07-24","proceeding":null,"authors":["Vladyslav Usenko","Nikolaus Demmel","Daniel Cremers"],"abstract":"Vision-based motion estimation and 3D reconstruction, which have numerous\napplications (e.g., autonomous driving, navigation systems for airborne devices\nand augmented reality) are receiving significant research attention. To\nincrease the accuracy and robustness, several researchers have recently\ndemonstrated the benefit of using large field-of-view cameras for such\napplications. In this paper, we provide an extensive review of existing models\nfor large field-of-view cameras. For each model we provide projection and\nunprojection functions and the subspace of points that result in valid\nprojection. Then, we propose the Double Sphere camera model that well fits with\nlarge field-of-view lenses, is computationally inexpensive and has a\nclosed-form inverse. We evaluate the model using a calibration dataset with\nseveral different lenses and compare the models using the metrics that are\nrelevant for Visual Odometry, i.e., reprojection error, as well as computation\ntime for projection and unprojection functions and their Jacobians. We also\nprovide qualitative results and discuss the performance of all models.","url_abs":"http://arxiv.org/abs/1807.08957v2","url_pdf":"http://arxiv.org/pdf/1807.08957v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/ethz-asl/kalibr","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"NOASSERTION"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/LONG-9621/Derivative_Efficient","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/VladyslavUsenko/basalt-headers-mirror","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/berndpfrommer/basalt-headers","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/chengguizi/basalt-headers","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"gone","observed_at":"2026-09-18","how":"tree_404+repo_404"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/kaist-vclab/sphere-stereo","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/minxuanjun/basalt-mirror","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://github.com/minxuanjun/basalt_class","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}},{"paper_slug":"the-double-sphere-camera-model","repo_url":"https://gitlab.com/VladyslavUsenko/basalt-headers","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"3d-reconstruction","task_name":"3D Reconstruction"},{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"motion-estimation","task_name":"Motion Estimation"},{"task_slug":"visual-odometry","task_name":"Visual Odometry"},{"task_slug":"model","task_name":"model"},{"task_slug":null,"task_name":"valid"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1807.08957","atlas_url":"https://app.syntology.ai/?focus=1807.08957","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}