Depth perception based on omnidirectional ring structured light

A depth perception method based on omnidirectional image and ring structured light is proposed. Firstly, a new omnidirectional ring structured light pattern (ORSL) was presented. ORSL can simplify feature point extraction and locate the scene position more robust and fast. Secondly, a new sensor is proposed, which including an omnidirectional camera, laser projector and control circuit system. Thirdly, measurement accuracy was improved on error correction methods. Finally, a pose estimation method is designed to compute the location and direction of the imaging system. The experimental results demonstrated that the proposed method can acquire omnidirectional depth information about large-scale scene. The error analysis of multiple sets of depth data show the effectiveness of the method.