Design of a Novel Omnidirectional Stereo Vision System

Abstract

An omnidirectional stereo vision system based on a single normal camera is presented. The configuration of it has the advantages of simple geometry, easy calculation and stereo matching, and imaging without occlusion. Analyse of error proves it has a higher precision. This proposed system can be used for detecting obstacle by mobile robots, automatic obtaining the depth information of environments, and machine vision where fast and real-time calculations are needed.