Single Cone Mirror Omni-Directional Stereo

Omni-directional view and stereo information for scene points are both crucial in many computer vision applications. In some demanding applications like autonomous robots, we need to acquire both in real-time without sacrificing too much image resolution. This work describes a novel method to meet all the stringent demands with relatively simple setup and off-the-shelf equipments. Only one simple reflective surface and two regular (perspective) camera views are needed. First we describe the novel stereo method. Then we discuss some variations in practical implementation and their respective tradeoffs. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-01-03. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/141 Single Cone Mirror Omni-Directional Stereo Shih-Schoii Lin, Ruzena Bajcsy Technical Report MS-CIS-0 1-03 GRASP Laboratory, Computer and Information Science Department University of Pennsylvania, shschon@,qrasp.cis.upenn. edu , rbaicsy@nsfgov (also, [email protected])