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

Abstract : 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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Communication dans un congrès
13th International Conference on Quality Control by Artificial Vision 2017, May 2017, Tokyo, Japan. SPIE Proceedings, 10338, Thirteenth International Conference on Quality Control by Artificial Vision 2017. <10.1117/12.2266945>
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Contributeur : Ahmad Zawawi Jamaluddin <>
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Dernière modification le : mercredi 24 mai 2017 - 01:13:16
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Ahmad 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. SPIE Proceedings, 10338, Thirteenth International Conference on Quality Control by Artificial Vision 2017. <10.1117/12.2266945>. <hal-01525780>

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