Fig. 7From: Free viewpoint image generation system using fisheye cameras and a laser rangefinder for indoor robot teleoperationIllustration of the incident angle. Camera \(c_{k}\) has the smallest incident angle \(\theta _{k}\) and \(c_{l}\) has the second smallest incident angle \(\theta _{l}\). \(\mathbf {q}^w\) is a point of a model in the world coordinateBack to article page