Two or more mirrors for the omnidirectional stereovision
El Mustapha Mouaddib, Ryusuke Sagawa, Tomio Echigo, Yasushi Yagi · 2006
Catadioptric omnidirectional stereovision system consists of a single camera and multi-mirrors (at least two mirrors). Many configurations have been designed in the past. In all the proposed systems, the centers of mirrors are often vertically aligned or on the same horizontal plane. In this paper, we propose to investigate the vertical and the horizontal shift of the mirrors’s center positions. More precisely, we study the accuracy and view field for different configurations. We will also discuss the singularities problem in this kind of stereovision system. Omnidirectional catadioptric computer vision is achieved by using convex mirrors and a conventional camera, offering large view. The conventional omnidirectional stereovision