An Image Processing for Omnidirectional Image Based on the Bresenham Raster Algorithm

In this paper, an image processing algorithm for omnidirectional image is proposed. Since the omnidirectional image contains many circular arc segments, a radial directional processing for certain features in the image is appropriate rather than the horizontal or vertical directional processing as in the usual rectangular shape image. Computation of the proposed radial processing algorithm is based on the well-known Bresenham raster algorithm for line drawing in discrete integer space, thereby it is very fast and efficient. Comparison between the proposed algorithm and the conventional horizontal processing in terms of feature detection and computational efficiency are presented in experiments.