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Vision is the result of light being detected and transduced into neural signals by the retina of the eye. This information is then further analyzed and interpreted by the brain. First, light enters the front of the eye and is focused by the cornea and lens onto the retina—a thin sheet of neural tissue lining the back of the eye. Because of refraction through the convex lens of the eye, images are projected onto the retina upside-down and reversed.
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    Area of Science:

    • Computer Vision
    • Optical Engineering
    • Robotics

    Background:

    • Traditional stereo vision systems often require multiple cameras, increasing bulk and complexity.
    • Achieving a wide field of view with minimal distortion is a persistent challenge in vision sensing.

    Purpose of the Study:

    • To propose and validate a novel omnidirectional stereo vision sensor.
    • To demonstrate a compact and accurate 3D measurement solution using a single camera and catoptric system.

    Main Methods:

    • Developed a sensor utilizing one camera and two pyramid mirrors for omnidirectional imaging.
    • Established a structural model and designed a sensor prototype.
    • Analyzed the impact of structural parameters on field of view and measurement accuracy.

    Main Results:

    • The sensor achieves omnidirectional measurement through four pairs of virtual cameras with high synchronism.
    • Perspective projection invariance was maintained, preventing distortion from curved mirrors.
    • Experimental evaluation confirmed the sensor's feasibility and considerable accuracy in 3D coordinate reconstruction.

    Conclusions:

    • The proposed omnidirectional stereo vision sensor offers a compact and effective solution for 3D measurement.
    • The design overcomes limitations of traditional stereo vision systems, providing high accuracy and a wide field of view.