Fig. 3From: Free viewpoint image generation system using fisheye cameras and a laser rangefinder for indoor robot teleoperationOverview of the proposed method. From left to right: (1) 3D models of the robot, the floor, and the walls are estimated. Only the robot model has a texture. (2) The relative poses of the robot, the floor, and the walls are estimated and combined. (3) Their textures are obtained from fisheye images, and free viewpoint images are generatedBack to article page