# Direct Triangulation with Spherical Projection for Omnidirectional Cameras

arXiv: https://arxiv.org/abs/2206.03928 · HTML: https://mlsanity.com/paper/2206.03928/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 21 references that are in the map.
- First posted on arXiv 8 Jun 2022.

## Builds on (most cited first, 2 of 2)

- [The Double Sphere Camera Model](https://mlsanity.com/paper/1807.08957/) (2018)
- [Dual-fisheye lens stitching for 360-degree imaging](https://mlsanity.com/paper/1708.08988/) (2017)

## Built on by (most cited first, 1 of 1)

- [EDM: Equirectangular Projection-Oriented Dense Kernelized Feature Matching](https://mlsanity.com/paper/2502.20685/) (2025)

## Abstract (arXiv)

In this paper, it is proposed to solve the problem of triangulation for calibrated omnidirectional cameras through the optimisation of ray-pairs on the projective sphere. The proposed solution boils down to finding the roots of a quadratic function, and as such is closed form, completely non-iterative and computationally inexpensive when compared to previous methods. In addition, even thought the motivation is clearly to solve the triangulation problem for omnidirectional cameras, it is demonstrated that the proposed methods can be applied to non-omnidirectional, narrow field-of-view cameras.