Single-camera multi-baseline stereo using fish-eye lens and mirrors

Abstract

This report proposes a monocular range measurement system with a fish-eye lens and mirrors placed around the lens. The fish-eye lens has a wide view-angle; the captured image includes a centered region of direct observation and surrounding regions of mirrored observations. These regions correspond to observations withmultiple cameras at different positions and orientations. The captured image can be used for direct observation of a target with the centered region. Simultaneously, it can be used for multi-baseline stereo to reconstruct three-dimensional information. After calibration of the projection function of the fish-eye lens, the mirror positions and orientations are obtainable from the external parameters, which are used for the multi-baseline stereo measurement. Experimental results demonstrate the effectiveness of a real working system. © Springer-Verlag 2010.