A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Catadioptric Stereo Using Planar Mirrors
International Journal of Computer Vision
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Catadioptric Omnidirectional Camera
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Multiview Panoramic Cameras Using Mirror Pyramids
IEEE Transactions on Pattern Analysis and Machine Intelligence
Omnidirectional Stereo Vision with a Hiperbolic Double Lobed Mirror
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 1 - Volume 01
Panoramic stereo reconstruction using non-SVP optics
Computer Vision and Image Understanding
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A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resulting omnidirectional stereo system is compact and cost-effective. The closed-form solution for 3D distance is derived based on the simple optics including the reflection and the refraction of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.