Trinocular Spherical Stereo Vision for Indoor Surveillance

Abstract

Stereo vision based sensors are widely used for indoor surveillance applications. Besides the demand for increasing performance the reduction of the overall number of sensors is the crucial issue. The central goal is the reduction of complexity and overall cost of the system. One opportunity is to use wide angle view based or even omnidirectional stereo vision sensors. We present a powerful approach which uses three omnidirectional cameras in order to compute full hemispherical depth information. By employing this, we can cover a complete room using only one sensor.

Cubes3D: Neural Network based Optical Flow in Omnidirectional Image Scenes

“…To capture image data we use a fixed camera with known intrinsic and extrinsic calibration [17]. The sensor was mounted on a height of z = 2.5 m and the cube has the dimension of 2 m × 2 m × 2 m. The center of the cube is always at z = 0 m.…”

An omnidirectional stereo sensor for human behavior analysis in complex indoor environments

“…Due to difficult geometrical conditions he reported from large measurement errors. The method of [10] solves this problem. Figure 1 shows the principle architecture of the proposed algorithm.…”

“…Furthermore, omnidirectional stereo vision can help to considerably reduce the number of applied sensors that are required to cover a certain scene. The issue of omnidirectional depth measurement has already been presented in previous scientific publications like [6], [7], [8], [9] and [10]. E.g.…”

“…Details can be reviewed in [10]. Figure 3 shows exemplary omnidirectional RGB data with its appropriate depth information as a result of the omnidirectional stereo camera.…”

“…The principles of the applied omnidirectional stereo vision system have been published in [10]. Three physical fisheye cameras (Cam omni 0 , Cam omni 1 and Cam omni 2 ) are mounted in an equiangular triangle configuration.…”