Stereovision with a Single Camera and Multiple Mirrors

You can create catadioptric omnidirectional stereovision using several mirrors with a single camera. These systems have interesting advantages, for instance in the case of mobile robot navigation and environment reconstruction. Our paper aims at estimating the” quality” of such stereovision system. What happens when the number of mirrors increases? Is it better to increase the base-line or to increase the number of mirrors? We propose some criteria and a methodology to compare different significant categories (seven): three already existing systems and four new designs that we propose. We also study and propose a global comparison between the best configurations.