Paper Info
Title
An Omnidirectional Stereo Vision System Using a Single Camera
Abstract
We describe a new omnidirectional stereo imaging system that uses a concave lens and a convex mirror to produce a stereo pair of images on the sensor of a conventional camera. The light incident from a scene point is split and directed to the camera in two parts. One part reaches camera directly after reflection from the convex mirror and forms a single-viewpoint omnidirectional image. The second part is formed by passing a subbeam of the reflected light from the mirror through a concave lens and forms a displaced single viewpoint image where the disparity depends on the depth of the scene point. A closed-form expression for depth is derived. Since the optical components used are simple and commercially available, the resulting system is compact and inexpensive. This, and the simplicity of the required image processing algorithms, make the proposed system attractive for real-time applications, such as autonomous navigation and object manipulation. The experimental prototype we have built is described.
Year
DOI
Venue
2006
10.1109/ICPR.2006.263
ICPR (4)
Keywords
Field
DocType
omnidirectional stereo vision system,resulting system,required image processing algorithm,convex mirror,single camera,light incident,concave lens,scene point,proposed system,single viewpoint image,conventional camera,single-viewpoint omnidirectional image,image processing,incident light,stereo vision,lenses
Stereo camera,Computer vision,Curved mirror,Computer graphics (images),Computer science,Stereopsis,Image processing,Stereo imaging,Lens (optics),Artificial intelligence,Digital image processing,Computer stereo vision
Conference
ISSN
ISBN
Citations 
1051-4651
0-7695-2521-0
16
PageRank 
References 
Authors
0.69
11
2
Name
Order
Citations
PageRank
Soo-Yeong Yi1306.92
Narendra Ahuja27726956.74