Range estimation from a pair of omnidirectional images

We address the problem of recovering range information from a pair of images obtained from camera viewpoints whose relative poses are known (stereo vision). The images we deal with are cylindrical re-projections of images captured by an omnidirectional vision sensor. Images obtained by such a device have a relatively low spatial resolution in comparison to standard camera images. We analyze the sensitivity of range estimation from image correspondences with respect to errors caused by discretization. The analysis reveals the significance of obtaining sub-pixel accuracy for range estimation. We present our method and experimental results. The results indicate that high accuracy range estimates can be obtained using our method.