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    This study introduces a compact omnidirectional multi-stereo vision system using one camera and multiple mirrors. This novel design achieves multiple 3D stereo pairs efficiently, enhancing wide field-of-view applications.

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    Area of Science:

    • Computer Vision
    • Robotics
    • Optical Engineering

    Background:

    • Omnidirectional stereovision offers a large field of view, crucial for applications like autonomous navigation and surveillance.
    • Traditional systems often require multiple cameras, leading to bulkier and more complex setups.
    • Achieving multiple stereo pairs with appropriate baselines from a single viewpoint remains a challenge.

    Purpose of the Study:

    • To propose a novel, compact omnidirectional multi-stereo vision system.
    • To enable multiple 3D stereo pairs with suitable baselines and viewpoints using a single camera.
    • To present the system's imaging projection and error propagation models.

    Main Methods:

    • A single camera is integrated with an array of mirrors, including a principal mirror positioned above sub-mirrors.
    • This configuration generates multiple omnidirectional stereo pairs.
    • The system's imaging projection and error propagation are mathematically modeled.

    Main Results:

    • The proposed system achieves a compact design for omnidirectional multi-stereo vision.
    • Multiple stereo pairs with appropriate baselines and viewpoints are successfully generated.
    • Experimental validation using simulations and real-world data confirms the system's effectiveness.

    Conclusions:

    • The developed compact omnidirectional multi-stereo system offers an efficient solution for 3D reconstruction.
    • The novel mirror arrangement provides multiple viewpoints and baselines from a single camera.
    • This system holds promise for advancing applications requiring wide-field 3D perception.