Omnidirectional Stereo Vision for Autonomous Vehicles

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Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications.This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.

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