This paper is concerned with obtaining focused images of a scene using a non-frontal camera. The non-frontal camera used here has a sensor surface which is planar, can be dynamically translated and oriented, and can be rotated with respect to the optic center. Up to three object points in a scene can be focused simulaneously using the translation and orientation degrees of freedom of the sensor plane. A scene of arbitrary size and depth can be focused using the rotational degree of freedom to obtain a panoramic image, showing up to 360 degree view of the scene. The focusing ability directly leads to range estimates. The range and focused intensities can be combined to generate 3D stereo displays of the scene.
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