Multidirectional stereovision sensor, calibration and scenes reconstruction

The observation of an entire 3D space and the reconstruction of an observed unknown scene are very interesting in the field of robot vision. This paper presents a new omni-directional device especially built for binocular peripheral vision. The architecture of the sensor is designed to simplify the computation considerably for real time application. The device needs no calculation of epipolar lines. This paper describes a new method and presents unknown reconstruction scenes based on a dynamic time warping algorithm. The image matching approach exploits the architecture benefits by calculating, in real time, the depth of the image slits of each angular position. The system described allows us to consider omni-directional robotics vision under a new realistic and robust aspect.