Omnidirectional stereo vision using fisheye lenses

This work presents an omnidirectional stereo system with a direct application to autonomous logistics. The omnidirectional system uses fisheye lenses to inspect the surroundings of the automated forklift. The lenses are mounted on the top of the vehicle to allow a 360° scene reconstruction with a single stereo pair. The system provides the list of obstacles detected around the vehicle. The reconstruction of the scene is possible via a division of the fisheye images into several rectified images. A stereo matching algorithm is applied to each pair of rectified images. The computed 3D points corresponding to the rectified pairs are unified into a single cloud. The obstacle detection module operates on the unified cloud of 3D points.