Stereo with Mirrors *

I n this paper, we propose the use of mirrors and a single camera for computational stereo. W h e n compared to conventional stereo systems that use two cameras, our method has a number of significant advantages such as wide field of view, single viewpoint projection, identical camera parameters and ease of calibration. W e propose four stereo systems that use a single camera pointed towards planar, ellipsoidal, hyperboloidal, and paraboloidal mirrors. In each case, we present a derivation of the epipolar constraints. Next, we attempt to understand what can be seen by each system and formalize. the notion of field of view. W e conclude with two experiments to obtain 3-0 structure. In the first we use a pair of planar mirrors, and in the second a pair of paraboloidal mirrors. The results of our experiments demonstrate the viability of stereo using mirrors.