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摘要: 本文介绍了用一个普通相机实现的全向立体视觉系统的设计，系统的配置使得其具有结构和几何计算简单、对应点匹配容易、系统成像无遮挡的优点。误差分析表明其具有较高的精度。本系统可用于机器人探测障碍物、环境深度信息的自动获取以及其它要求实时性计算的机器视觉。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.
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Key words:
- Hyperboloid mirror /
- catadioptric system /
- omnidirectional stereo vision /
- baseline
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