3D information acquisition using pattern projection and omni-directional cameras

In this paper, we propose surrounding depth measurement method using omni-directional cameras and projectors. In this method, we use two omni-directional cameras to take images of patterns projected by projectors, and estimate distances from cameras to objects by the stereo method. Here, we use the space encoding methods which use binary code and gray code. We also use vertical lines and small points as projected patterns, and we discuss appropriate pattern projection for distance measurement with omni-directional cameras. As the results of experiments, the gray code projection can measure distances more accurately than other projection, and we can show the effectiveness of proposed method by measuring 3D depth surrounding cameras using multiple projectors.