Kenji Terabayashi, Toru Morita, Hiroya Okamoto, and Kazunori Umeda

Abstract:
In car driving support systems and mobile robots, it is important to understand three-dimensional environment widely at once. In this paper, we use a fish-eye camera as a sensor to measure three-dimensional (3D) environments. This camera can take a wide-range and distortional image and can be easily mounted on cars. We propose a method for reconstructing 3D environment using fish-eye images based on Epipolar-Plane Image (EPI) analysis. This method enables easy and stable matching of feature points. The effectiveness of the proposed method is verified by experiments.

Keywords: fish-eye lens camera, three-dimensional (3D) measurement, Epipolar-Plane Image (EPI)