Abstract

A simple and successful design for a panoramic stereo system that uses a single camera and multiple mirrors is presented. A wide-baseline stereo enhances the three-dimensional reconstruction accuracy even with a single camera. The feasibility of the system as a practical stereo sensor has been demonstrated with experiments in an indoor environment.

© 2006 Optical Society of America

Full Article  |  PDF Article

References

  • View by:
  • |
  • |
  • |

  1. J. Gluckman and S. K. Nayar, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (Institute of Electrical and Electronics Engineers, 1999), p. 28.
  2. J. Gluckman and S. K. Nayar, IEEE Trans. Pattern Anal. Mach. Intell. 24, 224 (2002).
    [Crossref]
  3. D. Lee and I. Kweon, IEEE Trans. Rob. Autom. 16, 528 (2000).
    [Crossref]
  4. S. Baker and S. Nayar, Int. J. Comput. Vis. 35, 175 (1999).
    [Crossref]
  5. J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in Proceedings of the Image Understanding Workshop (Defense Advanced Research Projects Agency, 1998), p. 299.
  6. S. A. Nene and S. Nayar, in Proceedings of the IEEE International Conference on Computer Vision (Institute of Electrical and Electronics Engineers, 1998), p. 1087.
  7. S. Lin and R. Bajcsy, in Proceedings of the IEEE International Conference on Robotics and Automation (Institute of Electrical and Electronics Engineers, 2003), p. 1694.
  8. D. Southwell, A. Basu, M. Fiala, and J. Reyda, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 1996), p. 378.
    [Crossref]
  9. M. Fiala and A. Basu, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2002), p. 11.
  10. E. L. L. Cabral, J. C. de Souza, Jr., and M. C. Hunold, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2004), p. 1.

2002 (1)

J. Gluckman and S. K. Nayar, IEEE Trans. Pattern Anal. Mach. Intell. 24, 224 (2002).
[Crossref]

2000 (1)

D. Lee and I. Kweon, IEEE Trans. Rob. Autom. 16, 528 (2000).
[Crossref]

1999 (1)

S. Baker and S. Nayar, Int. J. Comput. Vis. 35, 175 (1999).
[Crossref]

Bajcsy, R.

S. Lin and R. Bajcsy, in Proceedings of the IEEE International Conference on Robotics and Automation (Institute of Electrical and Electronics Engineers, 2003), p. 1694.

Baker, S.

S. Baker and S. Nayar, Int. J. Comput. Vis. 35, 175 (1999).
[Crossref]

Basu, A.

D. Southwell, A. Basu, M. Fiala, and J. Reyda, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 1996), p. 378.
[Crossref]

M. Fiala and A. Basu, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2002), p. 11.

Cabral, E. L.

E. L. L. Cabral, J. C. de Souza, Jr., and M. C. Hunold, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2004), p. 1.

de Souza, J. C.

E. L. L. Cabral, J. C. de Souza, Jr., and M. C. Hunold, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2004), p. 1.

Fiala, M.

M. Fiala and A. Basu, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2002), p. 11.

D. Southwell, A. Basu, M. Fiala, and J. Reyda, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 1996), p. 378.
[Crossref]

Gluckman, J.

J. Gluckman and S. K. Nayar, IEEE Trans. Pattern Anal. Mach. Intell. 24, 224 (2002).
[Crossref]

J. Gluckman and S. K. Nayar, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (Institute of Electrical and Electronics Engineers, 1999), p. 28.

J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in Proceedings of the Image Understanding Workshop (Defense Advanced Research Projects Agency, 1998), p. 299.

Hunold, M. C.

E. L. L. Cabral, J. C. de Souza, Jr., and M. C. Hunold, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2004), p. 1.

Kweon, I.

D. Lee and I. Kweon, IEEE Trans. Rob. Autom. 16, 528 (2000).
[Crossref]

Lee, D.

D. Lee and I. Kweon, IEEE Trans. Rob. Autom. 16, 528 (2000).
[Crossref]

Lin, S.

S. Lin and R. Bajcsy, in Proceedings of the IEEE International Conference on Robotics and Automation (Institute of Electrical and Electronics Engineers, 2003), p. 1694.

Nayar, S.

S. Baker and S. Nayar, Int. J. Comput. Vis. 35, 175 (1999).
[Crossref]

S. A. Nene and S. Nayar, in Proceedings of the IEEE International Conference on Computer Vision (Institute of Electrical and Electronics Engineers, 1998), p. 1087.

Nayar, S. K.

J. Gluckman and S. K. Nayar, IEEE Trans. Pattern Anal. Mach. Intell. 24, 224 (2002).
[Crossref]

J. Gluckman and S. K. Nayar, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (Institute of Electrical and Electronics Engineers, 1999), p. 28.

J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in Proceedings of the Image Understanding Workshop (Defense Advanced Research Projects Agency, 1998), p. 299.

Nene, S. A.

S. A. Nene and S. Nayar, in Proceedings of the IEEE International Conference on Computer Vision (Institute of Electrical and Electronics Engineers, 1998), p. 1087.

Reyda, J.

D. Southwell, A. Basu, M. Fiala, and J. Reyda, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 1996), p. 378.
[Crossref]

Southwell, D.

D. Southwell, A. Basu, M. Fiala, and J. Reyda, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 1996), p. 378.
[Crossref]

Thoresz, K. J.

J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in Proceedings of the Image Understanding Workshop (Defense Advanced Research Projects Agency, 1998), p. 299.

IEEE Trans. Pattern Anal. Mach. Intell. (1)

J. Gluckman and S. K. Nayar, IEEE Trans. Pattern Anal. Mach. Intell. 24, 224 (2002).
[Crossref]

IEEE Trans. Rob. Autom. (1)

D. Lee and I. Kweon, IEEE Trans. Rob. Autom. 16, 528 (2000).
[Crossref]

Int. J. Comput. Vis. (1)

S. Baker and S. Nayar, Int. J. Comput. Vis. 35, 175 (1999).
[Crossref]

Other (7)

J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in Proceedings of the Image Understanding Workshop (Defense Advanced Research Projects Agency, 1998), p. 299.

S. A. Nene and S. Nayar, in Proceedings of the IEEE International Conference on Computer Vision (Institute of Electrical and Electronics Engineers, 1998), p. 1087.

S. Lin and R. Bajcsy, in Proceedings of the IEEE International Conference on Robotics and Automation (Institute of Electrical and Electronics Engineers, 2003), p. 1694.

D. Southwell, A. Basu, M. Fiala, and J. Reyda, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 1996), p. 378.
[Crossref]

M. Fiala and A. Basu, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2002), p. 11.

E. L. L. Cabral, J. C. de Souza, Jr., and M. C. Hunold, in Proceedings of the International Conference on Pattern Recognition (International Association for Pattern Recognition/Institute of Electrical and Electronics Engineers, 2004), p. 1.

J. Gluckman and S. K. Nayar, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (Institute of Electrical and Electronics Engineers, 1999), p. 28.

Cited By

OSA participates in Crossref's Cited-By Linking service. Citing articles from OSA journals and other participating publishers are listed here.

Alert me when this article is cited.


Figures (5)

Fig. 1
Fig. 1

Schematic of the proposed single-camera panoramic stereo system.

Fig. 2
Fig. 2

Experimental single-camera panoramic stereo system.

Fig. 3
Fig. 3

Stereo image captured by the proposed system.

Fig. 4
Fig. 4

(b), (c) Panoramic stereo images rectified from Fig. 3 and (a) the corresponding disparity map.

Fig. 5
Fig. 5

Reconstructed 3D map generated from Fig. 4 and the corresponding 3D sensation as the viewpoint changes.

Equations (6)

Equations on this page are rendered with MathJax. Learn more.

r 1 = f R M 1 Z M 1 , r 2 = f R M 2 Z M 2
R M 1 = m 1 c 1 + a 1 ( 1 + m 1 2 ) 1 2 a 1 2 b 1 2 m 1 2 ,
R M 2 = m 2 c 2 + a 2 ( 1 + m 2 2 ) 1 2 a 2 2 b 2 2 m 2 2 ,
Z M 1 = m 1 R M 1 + 2 c 1 , Z M 2 = m 2 R M 2 + 2 c 2 .
m 1 = ( Z w 2 c 1 ) R w ,
m 2 = [ ( 4 c 1 2 d Z w ) 2 c 2 ] R w ( R w > 0 ) ,

Metrics