A Novel Omnidirectional Stereo Vision System with a Single Camera

  • Sooyeong Yi
  • Narendra Ahuja
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4142)


A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resulting omnidirectional stereo system is compact and cost-effective. The closed-form solution for 3D distance is derived based on the simple optics including the reflection and the refraction of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.


Mobile Robot Single Camera Stereo Vision System Lens Material Omnidirectional Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Baker, S., Nayar, S.: A theory of Single-Viewpoint Catadioptric Image Formation. Int. J. Computer Vision 35(2), 175–196 (1999)CrossRefGoogle Scholar
  2. 2.
    Nayar, S.: Catadioptric Omnidirectional Camera. In: Proc. of IEEE Conf. on Computer Vision and Pattern Recognition, pp. 482–488 (1997)Google Scholar
  3. 3.
    Gluckman, J., Nayar, S.: Catadioptric Stereo Using Planar Mirrors. Int. J. of Computer Vision, 65–79 (2001)Google Scholar
  4. 4.
    Lee, D., Kweon, I.: A novel stereo camera system by a bi-prism. IEEE Tr. on Robotics and Automation. 16(5), 528–541 (2000)CrossRefGoogle Scholar
  5. 5.
    Gluckman, J., Nayar, S., Thorek, K.: Real-time omnidirectional and panoramic stereo. In: Proc. of DARPA Image Understanding Workshop, vol. 1, pp. 299–303 (1998)Google Scholar
  6. 6.
    Pajdlar, T., Svobda, T., Hlavac, V.: Epipolar geometry of central catadioptric camera. Int. J. Computer Vision 49(1), 23–37 (2002)CrossRefGoogle Scholar
  7. 7.
    Koyasu, H., Miura, J., Shirai, Y.: Recognizing moving obstacles for robot navigation using real-time omnidirectional stereo vision. J. of Robotics and Mechatronics 14(2), 147–156 (2002)Google Scholar
  8. 8.
    Nalwa, V.: A true omnidirectional viewer. Bell lab. Tech. Report (1996)Google Scholar
  9. 9.
    Tan, K., Hua, H., Ahuja, N.: Multiview Panoramic Cameras Using Mirror Pyramids. IEEE Tr. on Pattern Analysis and Machine Intelligence 26(6) (2004)Google Scholar
  10. 10.
    Southwell, D., Basu, A., Fiala, M., Reyda, J.: Panoramic Stereo. In: Proc. of Int. Conf. on Pattern Recognition, pp. 378–382 (1996)Google Scholar
  11. 11.
    Fiala, M., Basu, A.: Panoramic stereo reconstruction using non-SVP optics. Computer Vision and Image Understanding 98, 363–397 (2005)CrossRefGoogle Scholar
  12. 12.
    Cabral, E., Souza, J., Hunoid, C.: Omnidirectional Stereo Vision with a Hyperbolic Double Lobed Mirror. In: Proc. of Int. Conf. on Pattern Recognition, pp. 1–4 (2004)Google Scholar
  13. 13.
    Jang, G., Kim, S., Kweon, I.: Single Camera Catadioptric Stereo System. In: Proc. of Workshop on Omnidirctional Vision, Camera Networks and Non-classical Cameras (2005)Google Scholar
  14. 14.
    Zhu, Z.: Omnidirectional Stereo Vision. In: Proc. of Int. Conf. on Advanced Robotics, pp. 22–25 (2001)Google Scholar
  15. 15.
    Jenkins, F., White, H.: Fundamentals of Optics, 4th edn. McGraw-Hill, New York (1976)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Sooyeong Yi
    • 1
  • Narendra Ahuja
    • 2
  1. 1.Div. of Electronics and Information EngineeringChonbuk National Univ.ChonjuKorea
  2. 2.Dept .of Electrical and Computer EngineeringUniv. of Illinois at Urbana-ChampaignUrbanaUSA

Personalised recommendations