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Omnidirectional Catadioptric Stereovision using Equiangular Mirrors: Outdoor Environment

Researchers: Wen Lik Dennis Lui and Ray Jarvis Summary: A vertically stacked omnidirectional catadioptric stereovision system is used to perceive the environment surrounding the robot. Stereo correspondences are computed using SSD on the GPU via the Nvidia CUDA libraries and 3D information is extracted by utilizing the information obtained from the camera calibration technique developed specifically for equiangular mirrors. This video shows the result of a stereo pair separated by a vertical baseline of 30cm in an outdoor environment. Journal Article: TBA Related Article: http://monicareggiani.net/simpar2008/OmniRoboVis2008/omniRoboVis08-113-Lui.pdf

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