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JRM Vol.24 No.4 pp. 677-685
doi: 10.20965/jrm.2012.p0677
(2012)

Paper:

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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

Received:
October 14, 2011
Accepted:
February 16, 2012
Published:
August 20, 2012
Creative Commons License
Keywords:
fish-eye lens camera, three-dimensional (3D) measurement, Epipolar-Plane Image (EPI)
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.
Cite this article as:
K. Terabayashi, T. Morita, H. Okamoto, and K. Umeda, “3D Measurement Using a Fish-Eye Camera Based on EPI Analysis,” J. Robot. Mechatron., Vol.24 No.4, pp. 677-685, 2012.
Data files:
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