Three-dimensional environment reconstruction from Spatio-Temporal Image of Fish-eye camera

  We reconstruct three-dimensional environments using Spatio-Temporal Images, images arranged with the several image in a time series, obtained from only one Fish-eye camera. A Fish-eye camera is super-wide angle, therefore, it enables us to measure a wide range with single camera and reduces the camera cost. This advantage allows the Fish-eye camera to be loaded on a car or other mobile robots and used to measure surrounding environments.
  In this study¤Fish-eye camera is loaded on a mobile robot and surrounding environment is measured. And three-dimensional environments are reconstructed in consideration of the special distortion of a Fish-eye lens. As for the future work, we will realize more high accurate reconstruction. And further more we will apply this study to the driving support system for a driver and a mobile robot's autonomous locomotion.