Efficient Omnidirectional Stereo Vision with Single Camera
A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resultant omnidirectional stereo system becomes versatile and cost-effective. The closedform solution for 3D distance computation is presented based on the simple optics including the reflection and the refraction of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.
omnidirectional vision single camera stereo hyperbolic mirror refraction
Sooyeong Yi Byoungwook Choi
Department of Electrical Engineering,Seoul National University of Technology
国际会议
2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)
北京
英文
2008-10-18（万方平台首次上网日期，不代表论文的发表时间）