A Novel Omnidirectional Stereo Vision System via a Single Camera

Abstract

We have developed a complete framework of automatically generating omnidirectional depth maps around a mobile robot using a novel designed panoramic vision sensor. Compared to previous vision systems, our system has such significant advantages as its geometry calculating easy and fast and simultaneous acquisition of precise range information without high cost or system complexity. And as the separation between the two hyperbolic mirrors provides a large baseline, the range information obtained from this method has much improved precision. We have proposed an imaging model for