Design of panoramic stereo imaging with single optical system

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Abstract
A novel panoramic stereo imaging system with double panoramic annular lenses (PAL) is introduced in this paper. The proposed system consists of two coaxial PAL units and images on one sensor. The imaging rings are concentric. The object position can be calculated by triangulation. The novelty of this system is that the central blind zone of one PAL unit is partly used by the other as an image zone. The stereo field of view is 60°~105° × 360°. The depth extracting resolution is about 500mm at 1line/cm. The F# of the system is about 3, facilitating the system to be applied in low illumination environment. A design is presented and the depth extracting precision is analyzed.