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Panoramic Depth Perception |
[27.October.2005] Full reconstruction of a scene using depth and texture from different locations. Check the VRML model here.
[22.June.2005] The sensor was placed at 19 different locations in a scene. Check the results here.
[05.June.2005] New scene reconstruction: the sensor was placed at 3 different locations in a scene. Check the results here.
[30.May.2005 ] We present here a computer vision system that associates omnidirectional vision with structured
light and obtains depth information for a 360 degrees field of view.
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The Sensor
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The Scene
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The Image |
The sensor, shown in the figure on the right, is formed by an omnidirectional camera
coupled to a structured light projector that has a field of view
of 360 degrees. It was previously calibrated as described in the
publications.
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The projector sends a circular pattern which is reflected by the conical mirror and
becomes a light-stripe on the scene. The laser projection is detected in the omnidirectional
image and depth is calculated by triangulation.
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The Slices
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Depth computation
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Some Images ... |
3D Mapping |
| In the omni. image find the "slices" for each plane in the scene. |
| Measure depth for each plane and calculate the plane equations. |
| Unwarp each image slice. |
| Map each unwraped image it onto the corresponding plane. |
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For the 3D scene a VRML code is generated so that the users may visit the virtual environment.
A VRML plugin must be installed, such as
Cortona - a free available product.
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Visit the 3D Scene
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A 3D scene from my lab. Enjoy!
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