3D Measurement Using a Fish-Eye Camera Based on EPI Analysis
Kenji Terabayashi*, Toru Morita**, Hiroya Okamoto***,
and Kazunori Umeda***
*Department of Mechanical Engineering, Faculty of Engineering, Shizuoka University, 3-5-1 Johoku, Hamamatsu, Shizuoka 432-8561, Japan
**Sony Corporation, 2-15-3 Konan, Minato-ku, Tokyo 108-6201, Japan
***Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
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.
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