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Capturing mosaic-based panoramic depth images with a single standard camera

Peer P., Solina F.

Machine Graphics and Vision

2001

Vol. 10, No. 3

369-397

In this paper we present a panoramic depth imaging system. The system is mosaic-based which means that we use a single rotating camera and assemble the captured images in a mosaic. Due to a setoff of the camera's optical center from the rotational center of the system we are able to capure the motion parallax effect, which enables the stereo reconstruction. The camera rotating on a circular path with the step defined by an angle equivalent to a single column of the captured image. The equation for depth estimation can be easily extracted from the system geometry. To find the corresponding points on a stereo pair of panoramic images, the epipolar geometry needs to be determined. It can be shown that the epipolar geometry is very simple if we are doing the reconstruction based on a symmetric pair of stereo panoramic images. We get a symmetric pair of stereo pamoramic images when we take symmetric columns on the left and on the rihgt side from the captured image center column. Epipolar lines of the symmetrical pair of panoramic images are image rows. We focuse mainly on the system analysis. The system performs well in the reconstruction of small indoor spaces.