Accuracy estimation of a new omnidirectional 3D vision sensor

Abstract

We present a computer vision system that associates omni-directional vision with structured light with the aim of ob-taining depth information for a 360 degrees field of view.The approach proposed in this article combines an omnidirec-tional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor pro-vides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc. 1.