Development of Real-time Omnidirectional Stereo Imaging Systems

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We have obtained the following research results in this project.1.Development of Omnidirectional Stereo Imaging Sensors.We have developed two types of omnidirectional stereo imaging sensors. The first one is based on using a composite mirror of two hyperboloidal mirrors and a standard video camera. It has been concluded that this sensor suffers from low resolution of images and thus requires high-resolution video cameras for practical applications. The second from sensor is developed for overcoming the low-resolution problem in the first sensor. It consists of symmetrically aligned two components, each of which is constructed of a hexagonal pyramidal mirror and six video cameras.2.Real-time Generation of Perspective and Panoramic Images from an Omnidirectional ImagePerspective and panoramic images can be computed from an omnidirectional image because our sensor components satisfy the single viewpoint constraint. In order to execute the geometric transformation from omnidirectional imag … More es to perspective and/or cylindrical panoramic images in real time, we have developed a novel algorithm which integrates coordinate transformation by software and image warping by hardware. The proposed algorithm is used for realizing two types of telepresence systems ; one uses a head-mounted display (HMD) and the other is based on a large cylindrical screen and projectors.3.Efficient Coding of Dynamic Omnidirectional and Panoramic ImagesWe have developed a method for estimating structure and motion from omnidirectional image sequences as well as a method for generating novel views from a sequence of omnidirectional images obtained from a moving omnidirectional sensor.4.Acquisition of 3D Information from Omnidirectional Stereo ImagesOmnidirectional images obtained by our sensors have vertical disparities. In order to generate standard binocular stereo images with horizontal disparities, a correlation-based stereo matching algorithm is applied to omnidirectional stereo images. This may be referred to as omnidirectional stereo. Less