一种新的全向立体视觉系统的设计.pdfVIP

32 1 ℄ Vol. 32, No. 1 2006 1 ACTA AUTOMATICA SINICA January, 2006 1)    1, 2   1 1( 110016) 2 ( 100049) (E-mail: lcsu@sia.cn)   Æ TP242 Design of a Novel Omnidirectional Stereo Vision System SU Lian-Cheng1,2 ZHU Feng1 1(Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016) 2 (Graduate University of Chinese Academy of Sciences, Beijing 100049) (E-mail: lcsu@sia.cn) Abstract An omnidirectional stereo vision system based on a single normal camera is presented. The configuration of it has the advantages of simple geometry, easy calculation and stereo matching, and imaging without occlusion. Analyse of error proves it has a higher precision. This proposed system can be used for detecting obstacle by mobile robots, auto- matic obtaining the depth information of environments, and machine vision where fast and real-time calculations are needed. Key words Hyperboloid mirror , catadioptric system, omnidirectional stereo vision, base- line 1 360◦ ℄ ℄Ishiguro[1] Herman[2] 1) Supported by National Natural Science Foundation of P. R. China 2004-12-30 2005-9-26 Received December 30, 2004; in revised form September 26, 2004 c Copyright 2006 by Editorial Office of Acta Automatica Sinica. All rights reserved. 68 32 r ℄