Real-time omnidirectional stereo matching method using multi-view fisheye lenses and system thereof

A real-time omnidirectional stereo matching method in a camera system comprising a first pair of fisheye cameras comprising a first fisheye camera and a second fisheye camera provided to perform shooting in opposite directions and a second pair of fisheye cameras comprising a third fisheye camera and a fourth fisheye camera provided to perform shooting in opposite directions and in which the first pair of fisheye cameras and the second pair of fisheye cameras are vertically provided with different heights, the real-time omnidirectional stereo matching method comprising:

• receiving fisheye images of a subject captured through the first fisheye camera to the fourth fisheye camera;
• selecting a single fisheye camera from among fisheye cameras for each pixel of a preset reference fisheye image among the received fisheye images using a sweep volume for preset distance candidates;
• generating a distance map for all pixels using the reference fisheye image and a fisheye image of the selected single fisheye camera;
• and
• performing real-time stereo matching on the received fisheye images using the generated distance map.

A real-time omnidirectional stereo matching method in a camera system comprising a first pair of fisheye cameras comprising a first fisheye camera and a second fisheye camera provided to perform shooting in opposite directions and a second pair of fisheye cameras comprising a third fisheye camera and a fourth fisheye camera provided to perform shooting in opposite directions, the real-time omnidirectional stereo matching method comprising:

• receiving fisheye images of a subject captured through the first fisheye camera to the fourth fisheye camera;
• selecting a single fisheye camera from among fisheye cameras for each pixel of a preset reference fisheye image among the received fisheye images using a sweep volume for preset distance candidates;
• generating a distance map for all pixels using a bilateral cost volume filtering for the reference fisheye image and a fisheye image of the selected single fisheye camera;
• and
• performing real-time stereo matching on the received fisheye images using the generated distance map.