Fisheye stereo camera using equirectangular images

This paper proposes making a stereo camera using two fisheye cameras. The measurement range of the stereo camera is increased by using fisheye cameras. Fisheye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Perspective transformation is applied to images so that feature points of far objects coincide in the images of the two cameras in order to remove mismatches due to the errors of intrinsic and extrinsic parameters. The corresponding points are calculated by using stereo matching in the deformed image, and the distance is measured from the disparity. The accuracy of the constructed stereo camera's distance measuring is evaluated by experiments. The performance of the constructed stereo camera is evaluated by indoor and outdoor experiments.