Design and calibration of an omni-RGB+D camera

Ahmad Zawawi Jamaluddin (1) , Osama Mazhar (1) , Olivier Morel (1) , Ralph Seulin (1) , David Fofi (1)

1 Le2i - Laboratoire Electronique, Informatique et Image [UMR6306]

In this paper, we present the design of a new camera combining both predator-like and prey-like vision features. This setup provides both a spherical RGB-view and a directional depth-view of the environment. The model and calibration of the full setup are described. A few examples will be given to demonstrate the interest and the versatility of such camera for robotics and video surveillance at the oral presentation.

Mots clés: fisheye; dioptric; stereo vision; unified model

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

Ahmad Zawawi Jamaluddin, Osama Mazhar, Olivier Morel, Ralph Seulin, David Fofi. Design and calibration of an omni-RGB+D camera. 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Aug 2016, Xian, China. pp.386 - 387, ⟨10.1109/URAI.2016.7734066⟩. ⟨hal-01484793⟩