【摘要】 使用普通镜头立体视觉无法实现近距离或大视场的立体感知 ,鱼眼镜头立体视觉可以解决这一问题 ,因为鱼眼镜头的视场角可以达到 180°.鱼眼镜头获取大视场的同时也引入了严重的图像变形 .文中讨论了一种使用三个鱼眼镜头摄像机构成的多基线立体视觉系统恢复近距离大视场稠密深度图的方法 .为了高精度恢复稠密深度图 ,作者采用图像局部规范化方法、鱼眼变形图像校正方法、基于仿射变换区域匹配的相似性极小化准则 ,来实现鱼眼变形立体图像对应性求解 .文中最后给出了用真实物体和场景的大变形图像来恢复稠密深度图的实验结果更多还原

【Abstract】 When the clearance between the object and the stereo cameras is minimal, stereo fish eye lenses can provide a full stereo view of the object where conventional stereo lenses fail to do so. This is because fish eye lenses can provide a field of view which is approximately 180°.Fish eye lenses are useful where a large field view is required. Though fish eye lenses provide for a large field of view, they introduce significant distortion in the image. This paper presents an algorithm for dense depth map recovery by using muti baseline stereo vision with fish eye lens. We employ the normalizing local image, fish eye distortion correction and area based matching for obtaining both precise and stable estimation of correspondence. Experimental results obtained on several real stereo images are presented.更多还原