Omnidirectional Stereo Vision Study from Vertical and Horizontal Stereo Configuration

In stereo vision, an omnidirectional camera has high distortion compared to a standard camera, so the camera calibration is very decisive in its stereo matching. In this study, we will perform stereo matching for an omnidirectional camera with vertical and horizontal configuration so that the result of the image's depth has a 360-degree field of view by transforming the image using a calibration-based method. The result is that by using a vertical camera configuration, the image can be stereo matched directly, but by configuring a horizontal image, it is necessary to carry out a different stereo-matching process in each direction. Stereo matching with the semi-global matching method has better image results than block matching with more image objects detectable by the semi-global block matching method with a maximum disparity value of 32 pixels and with a window size of 21 pixels.