Catadioptric Omnidirectional Stereo Imaging

The conventional optical imaging system has a small view of field , and can only record .light intensity information, so the image recorded by this imaging system lacks immerses feel and stereo feel too. Recent years, due to the development of automaton navigation technique and virtual reality technique, the demand of stereo apperceive and reappearance of scene in a large view of filed is boosting up increasingly. Under promoted by advancement of optoelectronics, computer vision and computer graphics, some omnidirectional stereo imaging technique and method appear.In this dissertation, we research the theory, method and technique on the catadioptric optical omnidirectional imaging and stereo imaging to obtain 3D information about the scene in a hemisphere view of field, and realize omnidirectional stereo imaging. This dissertation is composed of three important parts: the first part includes chapter 2 to chapter 4, in which the method and technique on the catadioptric optical omnidirectional imaging are researched. The second part includes chapter 5 to chapter 8, in which the fundamental method and technique are researched. The last part is chapter 9, in which catadioptric omnidirectional imaging is combined with stereo imaging to obtain panoramic stereo information about scene. The main results obtained can be summarized as follows:1. Methods of design for single-viewpoint catadioptric omnidirectional imaging systems are systematically established. According to our method, hyperboloid catadioptric omnidirectional imaging systems and paraboloidal catadioptric omnidirectional imaging systems have been designed and been set up. The re-projection formula about this two kinds of system are derived, which be used to obtain perspective omnidirectional image and cylinder panoramic image from original omnidirectional image.2. Methods of design for non-single-viewpoint catadioptric omnidirectional imaging systems are systematically established. According to our method, catadioptric omnidirectional distortionless imaging systems for horizontal scene and catadioptric omnidirectional distortionless imaging systems for cylinder scene have been designed and and been set up. The imaging affection of lens distortion to the catadioptric omnidirectional distortionless imaging system for horizontal scene hasbeen analyzed. A improved method of mirror design to eliminate that affection has. been put forward.3. Stereo image matching based on SUSAN corner feature has been studied. We compare the operation cost and occurrent probability of mistake matching between two feature matching techniques that measuring support based on correlation score and based on correlation score and continuity, provide a fast and accurate method obtaining matched feature collection for determining the epipolar geometry and rectifying stereo pairs.4. Connection between the fundamental matrix and the epipolar geometry has been researched, in order to establish transition formula determining the epipolar geometry from linear method to non-linear method5. A method is present to rectify stereo pairs without calibration for cameras. The method calculates the initial values of perspective projective matrix; rotative matrix and translative matrix from the fundamental matrix, following these matrices have been optimized based on the coordinate value of corresponding points. The method can avoid the local least value in the optimal calculation effectively, and don't depend on the calculation precision of the fundamental matrix excessively, so is a fast and high precision rectification method.6. The fast dense disparity map extract method based on mean normalized cross-correlation technique has been research. The pyramid image frame, Box-filtering, and disparity search rang limiting are used to increase the speed of matching process. Bi-directional matching technique is adopted to disambiguate Matches. So the foundation of theory and method establishing real-time binocular stereo vision system have been s...