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Communication Dans Un Congrès Année : 2017

An Omni-RGB+D Camera Rig Calibration and Fusion using Unified Camera Model for 3D Reconstruction

Résumé

The perfect vision system could be a system which can obtain surround images or information at once. We present a vision system which can view the image in 360 with high-resolution depth information. The proposed vision system is compact and rigid with two fisheye cameras that provide a 360-degree field of view(FoV). Alongside, a high-resolution stereo vision camera is mounted to monitor anterior FoV for precise depth perception of the scene. To effectively calibrate the proposed camera system, we offer a novel camera calibration approach taking the advantages of Unified Camera Model representation. The proposed calibration method outperforms the state-of-the-art methods. Moreover, we proposed more affective algorithm in fusing the two fisheye images into a single unified sphere, which offers seamless stitching results. This new omni-vision rig system is designed to obtain sufficient information to be used on a robot for object detection and recognition. A large scale SLAM and dense 3D reconstruction can be achieved taking the advantage of the large FoV.
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Dates et versions

hal-01525780 , version 1 (22-05-2017)

Identifiants

Citer

Ahmad Zawawi Jamaluddin, Osama Mazhar, Cansen Jiang, Ralph Seulin, Olivier Morel, et al.. An Omni-RGB+D Camera Rig Calibration and Fusion using Unified Camera Model for 3D Reconstruction. 13th International Conference on Quality Control by Artificial Vision 2017, May 2017, Tokyo, Japan. ⟨10.1117/12.2266945⟩. ⟨hal-01525780⟩
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