Real-Time Spherical Stereo

By defining the disparity of a spherical stereo we reformulate the real-time stereo problem. Based upon this definition the realtime spherical stereo becomes a general model which can cope with cameras with any wide field of view including conventional ones. By transforming the rectified spherical images to latitude-longitude representation, the correspondence of feature points can be speeded up by the same processing as planar stereo images. The effectiveness of this approach is shown by realizing a real-time spherical stereo using a pair of fisheye cameras