Stochastic Local Search for Omnidirectional Catadioptric Stereovision Design

Authors:
G. Dequen;L. Devendeville;E. Mouaddib
Affiliations:
CREA, LaRIA, CNRS, Université de Picardie, 33 rue Saint Leu, 80039 Amiens Cedex 1, France;CREA, LaRIA, CNRS, Université de Picardie, 33 rue Saint Leu, 80039 Amiens Cedex 1, France;CREA, LaRIA, CNRS, Université de Picardie, 33 rue Saint Leu, 80039 Amiens Cedex 1, France
Venue:
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Year:
2007

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Abstract

This paper deals with a compact catadioptric omnidirectional stereovision system based on a single camera and multi-mirrors (at least two mirrors). Many configurations were empirically designed in previous works with the aim to obtain a good 3D reconstruction accuracy. In this paper, we propose to use optimization techniques for omnidirectional catadioptric stereovision design, by using a stochastic local search method in order to find a good sensor (number, relative positions and sizes of mirrors). We explain principles of our approach and provide automatically designed sensors with a number of mirrors from two to nine. We finally simulate the 3D-reconstruction of a real environment modeled under a ray-tracing software with some of these sensors.