同向式双目立体全方位视觉传感器的设计

Design of Vertically-Aligned Binocular Omnistereo Vision Sensor with Face-to-Back Configuration

为了获取立体全景图像,利用双曲面折反射镜面构成的全方位视觉传感器(Omni-Directional Vision Sensor,ODVS)具有固定单视点、水平方向360°、垂直大范围视场等成像特点,将两个具有相同成像参数的ODVS以面对背方式进行组合构成一种新型的双目立体全方位视觉传感器;组合时将上下两个ODVS的单视点固定在同一轴线上,并将两个ODVS的成像平面垂直于该轴线;组合而成的双目立体全方位视觉传感器能简化成像单元的标定、极线的配准以及特征点匹配等繁琐的步骤。实验结果表明,设计的双目立体全方位视觉传感器能有效解决极线约束难题、快速实现全景立体图像的特征点匹配、降低物点深度测量的复杂度。

In order to obtain stereo panoramic image,the features of omnidirectional vision sensors （ODVS） are used,which consist of hyperbolic catadioptric mirror with a fixed single point of view,horizontal direction of 360 °,wide vertical field of view.A new type of binocular stereo ODVS is composed of two ODVS with the same parameters,and the single view point of each ODVS is fixed on the same axis with face-to-back configuration.Using the collinearity of two view points,the binocular ODVS is able to easily align the azimuth,the camera calibration,feature points match,and other cumbersome steps have been simplified.The experiment results show that the proposed design of binocular stereo ODVS can solve the epipolar constraint problems effectively,match three-dimensional image feature points rapidly,and reduce the complexity of three-dimensional measurement considerably.