Fisheye Stereo Camera Using Fisheye Vertical Stereo Method

In this paper, we propose a wide-range and high-accuracy fisheye stereo camera using the fisheye vertical stereo method. In stereo measurement with two fisheye cameras placed horizontally, increased mismatching occurs due to template matching along curved epipolar lines. Additionally, because the baseline is horizontal, there is a decrease in the distance measurement accuracy in the left and right areas of the image. Therefore, by placing fisheye cameras vertically and straightening the epipolar lines, we reduce mismatching during template matching in stereo measurement, achieving high-accuracy stereo measurement. Moreover, by making the baseline vertical, we improve the distance measurement accuracy in the left and right areas. Experiments demonstrate that the distance measurement accuracy of our proposed method is higher than that of conventional methods.