Accuracy Improvement of Fisheye Stereo Camera by Combining Multiple Disparity Offset Maps

This paper proposes a novel method that significantly improves the accuracy of the fisheye stereo camera using multiple disparity offset maps that contain disparity error information. The disparity offset map is constructed based on disparity errors that are calculated from the feature points extracted from an object with a known distance. Modified stereo matching process based on the maps is carried out to greatly reduce the disparity errors that cannot be completely removed by general calibration scheme. Furthermore, the our method is possible to achieve high accuracy in both short and long range by combining the multiple maps. The proposed method is verified by experiments.