Analysis and Design of Panoramic Stereo Vision Using Equi-Angular Pixel Cameras

摘要

In this report we discuss methods to perform stereo vision using a novel configuration of devices that allow imaging of a very wide field of view (full 360 degrees in the azimuth and up to 120 degrees in elevation). Since the wide field of view produces signficant distortion that varies with viewpoint, we have developed a method to do correlation matching and triangulation for stereo vision that incorporates mirror shape. In this report we evaluate various configurations of cameras and mirrors that could be used to produce stereo imagery, including one that can use a single camera to produce stereo images. Range from panoramic stereo imagery can be used in many applications that require the three dimensional shape of the world. The chief advantages of this method is that it can made cheaply with no moving parts and can provide dense range data. Specifically, this kind of a sensor could be used for telepresence, autonomous navigation by robots, automatic mapping of environments and atti...