Monocular Wide Baseline Stereo Measurement Using High-Speed Catadioptric System

We propose a novel monocular wide baseline stereo vision system based on an ultrafast mirror-drive pan-tilt active vision device that can simultaneously switch hundreds of different views in one second. By combining high-speed video-shooting and multithread ultrafast gaze control processing, one camera can be performed as two virtual cameras with different views. Stereo image pairs can be captured by two virtual cameras frame by frame at arbitrary viewpoints by adding auxiliary catadioptric equipment and designing suitable way of pan-tilt mirror device switching. In this study, two additional plane mirrors are used to make up a wide stereo system in a limited space such as indoor environment. Frame interpolation is used to eliminate the unsynchronization problem for moving object. By switching 125 different views in a second with realtime image recording at 125 fps, the proposed system can function virtually as two cameras operating at 62.5 fps that can capture stereo pairs of 8-bit 512 × 512 color images. 3-D measurement experiment and analysis are demonstrated to verify the effectiveness of the proposed monocular wide baseline stereo system.