Real time omni-directional stereovision and planes detection

We show how it is possible to get 360/spl deg/ views from a special omni-directional stereo pair of cameras swivelling about the vertical axis and the technique to reconstruct the environment for this special sensor. The aim of the study is to develop a special device designed for this specific application in order to simplify the operations of calibration and stereo matching. We simplify the 2D calculus for the system. The approach described here does not require any specific environment. The goal of this project is to build maps of an unknown environment and to give a 3D real time representation of the environment.