Easy calibration method for omni-stereo camera system

Abstract

Cameras are widely used in the autonomous navigation of mobile robot. Typically, one or two cameras are used for this task. Recently, omni-directional vision system that can deal with the whole surrounding environments of mobile robot is adopted. Camera calibration is the first necessary step to obtain 3D information. In this paper, we deal with omni-stereo system consisted of eight cameras and each two vertical cameras constitute stereo system. Through this, omni-stereo is possible. Calibration using planar pattern requires large images for each camera so that it is a tedious step to calibrate the eight cameras of omni-stereo system. In this paper, we present a simple calibration procedure using cubic type calibration structure that surrounds the omni-stereo system. We can calibrate the whole cameras of omni-stereo system in a just one shot.