An Omnidirectional Vision Sensor with Single Viewpoint and Constant Resolution

Many omnidirectional vision sensors using a convex mirror have been proposed for observing a 360 degrees field of view. Some of them have a single viewpoint using a hyperboloidal or parabolic mirror, some of the others have a constant resolution property. Until now, there have not been any that have had both these properties. In this paper, we propose an omnidirectional vision sensor that has both a single viewpoint and a constant resolution. The proposed omnidirectional sensor uses two mirrors, which improves the degree of freedom of the design for satisfying each property. We introduce three practical settings of constant resolution; angular constant, horizontal constant and vertical constant resolutions