Abstract
In this paper, we propose a new approach for obtaining a dense panorama image and 3D depth information about panoramic environments. We sample sparsely panoramic environment by rotating an acquisition rig composed with a regular camera and a laser sensor. Then we estimate a panoramic depth map by fusing distance informations from stereo vision and laser sensor, and generate a panorama image that has the same spatial resolution as the original regular images. Experimental results using both synthetic and real images show that our approach can produce high quality panorama image and panoramic 3D reconstruction.
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