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Research on Method of Catadioptric Panoramic Stereo Imaging and Depth Estimation

Author: ChongYang
Tutor: WangZuo
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: Stereo vision Panoramic images Catadioptric Depth estimates Corresponding points matching
CLC: TP391.41
Type: Master's thesis
Year: 2008
Downloads: 171
Quote: 1
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Abstract


Stereoscopic vision based on human vision principle, and explore recovered from the plane image of the three-dimensional spatial information, so as to achieve the purpose of understanding the three-dimensional world through the planar image. Smaller field of view of conventional optical imaging system based on stereo vision technology can only get a limited field of view of the range of the depth information, which caused a lot of inconvenience in practical applications. In recent years, with the robot navigation technology, automated video surveillance technology, the rapid development of virtual reality technology, three-dimensional perception and reconstruction of large field of view of the omni-directional scene using stereo vision and panoramic imaging technology at home and abroad to become research hotspot issues. Catadioptric panoramic stereo vision technology to achieve the three-dimensional imaging of the whole direction of the scene, estimated the depth information of the scene, and to simplify the calculation and improve system processing speed. Research and design of this article by using a single camera and double parabolic catadioptric mirror for panoramic stereo images and estimate scene depth information system, mainly to solve the following key issues: (1) design A parabolic mirror catadioptric panoramic stereo The image generation system. The system consists of a single camera and two parabolic fold mirror, they are coaxially arranged in the vertical direction, so that the the two paraboloid fold mirror imaged in the camera as a pair of concentric circles. This design enables the point in space in the space within a certain range in the camera imaging of the image point of a specific outer pole geometric constraints, according to this image point can be obtained depth information of the spatial point. (2) According to this article panoramic stereo image generation system design depth information derived formulas and error analysis of the independent variables, analysis device error related to system structure parameters in the formula as a final depth estimation results and thus take advantage of the error analysis results to improve the system structure. (3) the original panoramic stereoscopic image projector is converted into the cylindrical panoramic stereoscopic image pair, so that the corresponding point matching algorithm can be smoothly applied to improve the matching accuracy, simplifying the depth estimates. (4) According to the characteristics of the cylinder stereo image pairs epipolar, improvements related area-based local gray (SAD) and dynamic programming (DP) are two corresponding points matching algorithm. Application designed in this paper were obtained in the virtual scene and the scene with a panoramic three-dimensional image, and scene depth information to estimate the two algorithms, has been corresponding cylindrical panoramic dense disparity map, verify the catadioptric panoramic stereo vision system design and match the effectiveness of the algorithm.

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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