Depth Estimation using Stereo Fish-Eye Lenses

  title={Depth Estimation using Stereo Fish-Eye Lenses},
  author={Shishir Shah and Jake K. Aggarwal},
This paper presents the estimation of depth in an indoor, structured environment based on a stereo setup consisting of two fish-eye lenses, with parallel optical axes, mounted on a robot platform. The use of fish-eye lenses provides for a large field of view to estimate better the depth of features very close to the lens. To extract significant information from the fish-eye lens images, we first correct for the distortion before using a special line detector, based on vanishing points, to… CONTINUE READING
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