A computer vision sensor for panoramic depth perception

Authors:
Radu Orghidan;El Mustapha Mouaddib;Joaquim Salvi
Affiliations:
Institute of Informatics and Applications, Computer Vision and Robotics Group, University of Girona, Girona, Spain;Centre de Robotique, Électrotechnique et Automatique, Université de Picardie Jules Verne, Amiens, France;Institute of Informatics and Applications, Computer Vision and Robotics Group, University of Girona, Girona, Spain
Venue:
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part I
Year:
2005

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Abstract

A practical way for obtaining depth in computer vision is the use of structured light systems. For panoramic depth reconstruction several images are needed which most likely implies the construction of a sensor with mobile elements. Moreover, misalignments can appear for non-static scenes. Omnidirectional cameras offer a much wider field of view than the perspective ones, capture a panoramic image at every moment and alleviate the problems due to occlusions. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to obtain panoramic depth information. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector.