A Universal Optical Flow Based Real-Time Low-Latency Omnidirectional Stereo Video System

Omnidirectional stereoscopic video (ODSV) is a key element of creating an immersive experience for virtual reality that has attracted extensive interest while presenting many technical challenges. Two such key challenges are real-time, low-latency high-quality seamless video stitching from multiple cameras, and faithful reconstruction of 3-D information. Even though various attempts have been made to achieve different combinations of real-time, low-latency, automation, and high output resolution in stereoscopic panoramic video communication, achieving these characteristics simultaneously remains a challenge to be tackled. In this paper, we present a universally applicable and practical end-to-end system based on a novel real-time optical flow algorithm to produce high-quality real-time ODSV with reconstructed 3-D depth information at low latency. Through a configurable process, various camera systems can be calibrated and seamlessly stitched together using the proposed system. The stitched 3-D panoramic video is encoded with a standard compliant video encoder that is optimized for panoramic video. Thanks to various optimizations introduced in this paper, the proposed system is capable of producing real-time ODSV of ultra High definition resolution with a glass to glass latency of 2.2 s using a desktop computer with a single Nvidia graphic card. Experiments show that the proposed system achieves an encoding performance superior to existing open-source HEVC implementations and an optical flow estimation performance better than the Facebook algorithm while running two orders of magnitudes faster.