3D Reconstruction by Single Camera Omnidirectional MultiStereo System Omnidirectional catadioptric systems are popular in robotic applications thanks to their large field of view. For 3D scene reconstruction in a single shot, usually two different catadioptric cameras are needed. More cameras may contribute to better reconstruction while larger mounting space and higher power cost are required. In this paper, a single camera multistereo catadioptric system with vertical and horizontal baseline structure is proposed. It features achieving multipair of central or noncentral omnidirectional stereos in a compact manner. To make the 3D reconstruction process general and adaptive to various types of system configurations, a flexible calibration and reconstruction algorithm pipeline is presented. The algorithm features approximating the system into multiple central subcameras and carrying out the stereo matching in a spherical representation. In addition, an effective 3D point cloud fusion algorithm is proposed to optimize the reconstruction results from multiple stereo pairs. The experiment carried out with synthetic and real data verified the feasibility and effectiveness of our system.

Virtual Calibration Pattern Realization for HybridFOV Multiview Calibration * Multiview vision systems are commonly applied in different fields at present, including hybridfieldofview(hybridFOV) multiview systems. The difference between camerasxe2x80x99 FOVs results in the difficulty of calibration, such as lack of information for cameras with small FOVs. All the information acquired by the other cameras and the projective geometry between them should be utilized in camera calibration. In this paper, a method of generating redundant constraints with trifocal tensor and the information from the cameras with a large FOV is proposed. The process is described after some reminders of trilinearities. Then, two simulated experiments based on this method have been implemented. The results and analysis show the feasibility of this method.