Panoramic Stereo Imaging Using Hyperboloid Catadioptric Cameras
Jiyong Zeng, Xianyu Su · Journal of Optoelectronics·laser · 2006
In a lot of fields,such as robot navigation,video surveillance,and site modeling,etc,there are needs to obtain the omnidirectional depth information of scene in real-time.In this paper,a method to realize panoramic stereo imaging utilizing two coaxial hyperboloid catadioptric cameras is presented,and its depth computational formulae are derived.In order to simplify stereo matching and depth calculation,a virtual cylindrical camera satisfying the pinhole camera model is established.By this way,the usual binocular vision technique can be used to extract depth information form cylindrical panoramic stereo image pair.The panoramic stereo imaging experimental system is established,and the 360° panoramic dense disparity map including depth information is picked up.