Abstract: A highly functional and versatile camera platform for a multi-purpose robotic vehicle utilizing a novel modular approach is presented. The platform uses only three CCD cameras, four computer-controlled rotation stages, and three modular optical imaging systems to provide both a stereo vision mode at any desired viewing angle and a panoramic vision mode with a 180$DGR non- overlapping field-of-view. The panoramic view from the imaging system of each module is collected by one of three mirrors and transmitted collectively toward a corresponding CCD camera. Stereo vision mode is accessed by aligning any two of the three modules in parallel using their respective rotation stages. When the entire assembly is rotated by another rotation stage, any desired viewing angle is obtained. !4
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