Structure from motion using a hybrid stereo-vision system

This paper is dedicated to robotic navigation using an original hybrid-vision setup combining the advantages offered by two different types of camera. This couple of cameras is composed of one perspective camera associated with one fisheye camera. This kind of configuration, is also known under the name of foveated vision system since it is inspired by the human vision system and allows both a wide field of view and a detail front view of the scene. Here, we propose a generic and robust approach for SFM, which is compatible with a very broad spectrum of multicamera vision systems, suitable for perspective and omnidirectional cameras, with or without overlapping field of view.