Depth measurement by omni-directional camera

Depth measurement is important in robot navigation, remote manipulation and auto-driving system etc. It can be used to avoid obstacles and identify objects. This paper presents a 3D depth measurement method using omni-directional camera and infrared point cloud structured light. Firstly, based on triangulation, the pixel offset values between the reference and object images can be calculated. Secondly, the 3D depth data can be measured and used to generate the color depth image. Finally, compared with actual measured values, in order to verify the effectiveness of the method. Experimental results show that the reconstructed depth data have a good correlation with the actual distance.