正距円筒画像への変換を用いた魚眼ステレオカメラの構築

This paper proposes a stereo camera using two fisheye cameras. The measurement range of the stereo camera is increased by using fisheye cameras. Fisheye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Stereo images are rectified to correct the influence of external parameters between a left camera and a right camera. Rectification parameters are estimated from feature points obtained from an image of an arbitrary environment. Errors due to deviation of the position and rotation of the left and right cameras are removed by the stereo rectification. The corresponding points are calculated by using stereo matching in the deformed image, and the distance is measured from the disparity. The performance of the fisheye stereo camera using equirectangular images is evaluated by simulations and experiments.