3D Reconstruction from Specialized Wide Field of View Camera System Using Unified Spherical Model

摘要

This paper proposed a method of three dimensions (3D) reconstruction from a wide field of view(FoV) camera system. This camera system consists of two fisheye cameras each with 180° FoV. The fisheye cameras placed back to back to obtain a full 360° FoV. A stereo vision camera is placed to estimate the depth information of anterior view of the camera system. A novel calibration method using unified camera model representation has been proposed to calibrate the multiple camera systems. An effective fusion algorithm has been introduced to fuse multi-camera images by exploiting the overlapping area. Moreover, direct and fast 3D reconstruction of sparse feature matches based on the spherical representation are obtained using the proposed system.