Single Camera Stereo with Planar Mirrors

Abstract

This paper presents a new system for rapidly acquiring stereo images using a single camera and a pair of planar mirrors (catadioptric stereo). Firstly, the camera used to capture images is calibrated with matlab toolbox. Secondly, the position and pose of the planar mirrors relative to the fixed, calibrated camera is estimated, and this procedure is accomplished by calculating the symmetry plane of the real and reflected image corners of a chessboard. Thirdly, the relative orientation of two reflected virtual cameras is obtained. Finally, Gaussian noise is added to the image corners of the chessboard to verify the performance of the established stereo system. Experimental results show the effectiveness and robustness of our system.