Viktor V. Varlashin
Received July 20, 2022
The issues of using a pair of orthogonally-divergent cameras with fisheye lenses in computer vision systems are considered. An algorithm has been developed for processing frames received from cameras to obtain a pair of rectified images. For a virtual model, the accuracy of constructing a scene depth map in the area of intersection of the cameras' fields of view was estimated.
Computer vision, stereo, fisheye lens, depth map, point cloud.
The reported study was funded by RFBR, project number 20-38-90094 «Study of methods for estimating distances to environmental objects using a surround-view system of mobile robots».
Varlashin, V.V., 2022. A technique for constructing depth map from images of orthogonally-divergent fisheye stereo. Robotics and Technical Cybernetics, 10(3), pp.236-240.
- Hartley, R. and Zisserman, A., 2003. Multiple View Geometry in Computer Vision, New York: Cambridge University Press.
- Zhang, Y. et al., 2021. Dense stereo fish-eye images using a modified hemispherical ASW algorithm. JOSA A, 38(4), pp.476-487.
- Gao, W. et al., 2020. Autonomous aerial robot using dual-fisheye cameras, J. Field Robotics, 37(4), pp.497-514.
- Pan, J. et al., 2018. Orthogonally-divergent fisheye stereo. In: International Conference on Advanced Concepts for Intelligent Vision Systems, Springer, pp.112-124.
- Scaramuzza, D., Martinelli, A. and Siegwart, R., 2006. A flexible technique for accurate omnidirectional camera calibration and structure from motion. In: Fourth IEEE International Conference on Computer Vision Systems (ICVS'06), pp.45-45.
- Clapa, J. et al., 2014. A fisheye distortion correction algorithm optimized for hardware implementations. In: 2014 Proceedings of the 21st International Conference Mixed Design of Integrated Circuits and Systems (MIXDES), IEEE, pp.415-419.
- Unity Asset Store, u.d. Dome Tools. Available at: <https://assetstore.unity.com/packages/vfx/shaders/
fullscreen-camera-effects/dome-tools-62664> (Accessed 07 June 2022).