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Development Of A Versatile Wide-Angle Lens Characterization Strategy For Use In The Omnister Stereo Vision System, Keith B. Johnson

Masters Theses

This thesis details the development of an accurate and efficient wide-angle stereo vision system. Wide-angle or fisheye stereo is desired because it provides the capa­bility to recover depth information for a large scene from a single stereo image pair. However, nonlinear image distortions caused by the camera optics complicate the necessary stereo processes of camera modeling and disparity analysis . The charac­terization and removal of these lens distortions therefore is considered vital to stereo evaluation of fisheye images. Existing wide-angle stereo systems have maintained the use of pinhole projections to model the respective camera systems . This ideal projection model …