基于鱼眼镜头的全景立体球视觉研究

Panoramic stereo sphere vision

传统立体视觉系统由于有限的视场范围使其应用受到了一定限制。虽然全景视觉可将全部视场内的景物一眼看遍,但将二维信息投影至二维图像,损失—维景深信息;本文提出一种全新的基于特殊组合式鱼眼镜头模块的视觉方案—"全景立体球视觉",该系统具备仅一次拍摄成像,在同一时刻实现全景360°x360°观测和全观测三维坐标信息无盲区获取的能力。提出系统几何、数学模型及参数标定方法。诸如视频监控,机器人的自主导航,虚拟与现实,辅助驾驶,多机动目标跟踪,未知环境探测等领域的发展都将受益于全景立体球视觉。

Conventional stereo vision systems have a small field of view(FOV) which limits their usefulness for certain applications.While panorama vision is able to 'see' in all directions of the observation space,scene depth information is missed because of the mapping from 3D reference coordinates to 2D panoramic image.In this paper,we present an innovative vision system which builds by a special combined fish-eye lenses module,and is capable of producing 3D coordinate information from the whole global observation space and acquiring no blind area 360°x360° panoramic image simultaneously just using single vision equipment with one time static shooting.It is called Panoramic Stereo Sphere Vision(PSSV).We proposed the geometric model,mathematic model and parameters calibration method.Specifically,video surveillance,robotic autonomous navigation,virtual reality,driving assistance,multiple maneuvering target tracking and automatic mapping of environments and unknown environments exploration are some of the applications which will benefit from PSSV.