Disparity Correction Method of the Monocular Omnidirectional Stereo Camera

We have developed a small and low-cost device that realizes both recognizing objects and measuring their distances in all directions: a monocular omnidirectional stereo camera (MOSC). The distortion of the lens and hyperbolic mirror of the MOSC is calibrated parametrically, but there is still distortion that cannot be modeled. In this study, we use a known distance object to correct the disparity itself rather than the image distortion, and achieved 360° horizontal field of view measurement accuracy. This makes it possible to measure and recognize the entire surrounding area at low cost and high accuracy using the MOSC.