Stochastic Local Search for Omnidirectional Catadioptric Stereovision Design

Abstract. This paper deals with a compact catadioptric omnidirectional stereovision system based on a single camera and multi-mirrors (at least two mirrors). Many configurations were empirically designed in previous works with the aim to obtain a good 3D reconstruction accuracy. In this paper, we propose to use optimization techniques for omnidirectional catadioptric stereovision design, by using a stochastic local search method in order to find a good sensor (number, relative positions and sizes of mirrors). We explain principles of our approach and provide automatically designed sensors with a number of mirrors from two to nine. We finally simulate the 3D-reconstruction of a real environment modeled under a ray-tracing software with some of these sensors.

• Type: Conference
• Year: 2007
• Where: IBPRIA
• Authors: Gilles Dequen, Laure Devendeville, E. Mouaddib
• Keywords: Catadioptric Omnidirectional Stereovision, IBPRIA 2007, Image, Image Analysis, Omnidirectional Catadioptric Stereovision, Stochastic Local Search