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Summary: An Omnidirectional Stereo Vision System Using a Single Camera
Sooyeong Yi*
and Narendra Ahuja**
*
Div. of Electronics and Information Engineering, Chonbuk National University, Korea
**
Dept. of Electrical and Computer Engineering, Univ. of Illinois at Urbana-Champaign, USA
*
suylee@chonbuk.ac.kr, **
ahuja@vision.ai.uiuc.edu
Abstract
We describe a new omnidirectional stereo imaging
system that uses a concave lens and a convex mirror to
produce a stereo pair of images on the sensor of a
conventional camera. The light incident from a scene
point is split and directed to the camera in two parts.
One part reaches camera directly after reflection from
the convex mirror and forms a single-viewpoint
omnidirectional image. The second part is formed by
passing a subbeam of the reflected light from the
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