A New Two-Omni-Camera System with a Console Table for Versatile 3D Vision Applications and Its Automatic Adaptation to Imprecise Camera Setups

摘要

A new two-omni-camera system for 3D vision applications and a method for adaptation of the system to imprecise camera setups are proposed in this study. First, an efficient scheme for calibration of several omni-camera parameters using a set of analytic formulas is proposed. Also proposed is a technique to adapt the system to imprecise camera configuration setups for in-field 3D feature point data computation. The adaptation is accomplished by the use of a line feature of the console table boundary. Finally, analytic formulas for computing 3D feature point data after adaptation are derived. Good experimental results are shown to prove the feasibility and correctness of the proposed method.