A 3D Estimation Method Using an Omnidirectional Camera and a Spherical Mirror

As the demand for 3D information continues to grow in various fields, technologies are rapidly being used to acquire such information. Laser-based estimation and multi-view images are popular methods for sensing 3D information, while deep learning techniques are also being developed. However, the former method requires precise sensing equipment or large observation systems, while the latter relies on substantial prior information in the form of extensive learning datasets. Given these limitations, our research aims to develop a method that is independent of learning and makes it possible to capture a wide range of 3D information using a compact device. This paper introduces a novel approach for estimating the 3D information of an observed scene utilizing a monocular image based on a catadioptric imaging system employing an omnidirectional camera and a spherical mirror. By employing a curved mirror, it is possible to capture a large area in a single observation. At the same time, using an omnidirectional camera enables the creation of a simplified imaging system. The proposed method focuses on a spherical or spherical cap-shaped mirror in the scene. It estimates the mirror's position from the captured images, allowing for the estimation of the scene with great flexibility. Simulation evaluations are conducted to validate the characteristics and effectiveness of our proposed method.