Compact omnidirectional multi-stereo vision system for 3D reconstruction

摘要

Omnidirectional stereovision is beneficial in wide applications due to its large field of view. Traditional implementation of such a system employs two separate cameras looking at separate mirrors to achieve 3D stereo reconstruction. In this paper, a compact omnidirectional multi-stereo system that consists of only one camera and multiple mirrors is proposed. The novelty lies in the designing of a principal mirror above the array of sub-mirrors to achieve multiple omnidirectional stereo pairs that have appropriate baselines and multiple viewpoints in a compact manner. The system's imaging projection and error propagation model are presented. Experiments based on simulation and real data verify the effectiveness of our system. (C) 2018 Optical Society of America