Hybrid Stereo Sensor with Omnidirectional Vision Capabilities: Overview and Calibration Procedures

Stefano Cagnoni, Monica Mordonini, Luca Mussi, Giovanni Adorni
2007 14th International Conference on Image Analysis and Processing (ICIAP 2007)  
In this paper, we present a compact hybrid video sensor that combines perspective and omnidirectional vision to achieve a 360 • field of view, as well as high-resolution images. Those characteristics, in association with 3D metric reconstruction capabilities, are suitable for vision tasks such as surveillance and obstacle detection for autonomous robot navigation. We describe the sensor calibration procedure, with particular regard to mirror-to-camera positioning. We also present some results
more » ... tained in testing the accuracy of 3D reconstruction, which have confirmed the correctness of the calibration.
doi:10.1109/iciap.2007.4362764 dblp:conf/iciap/CagnoniMMA07 fatcat:vvcvrrcp2vd4xjdfigtebkxrd4