1A1-J09 Construction of a fish-eye stereo camera using conversion to equirectangular images

Abstract

This paper proposes a stereo camera using two fish-eye cameras. The measurement range of the stereo camera is increased by using fish-eye cameras. Fish-eye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Affine transformation is applied to images so that feature points of far objects coincide in images of two cameras, in order to remove the mismatches due to the errores of intrinsic and extrinsic parameters. The corresponding points are calculated by using the stereo matching in the deformed image, and the distance is measured from the disparity. The distance measurement accuracy of the constructed stereo camera is evaluated by experiments.