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International audienceThe perfect vision system could be a system which can obtain surround images or information at once. We present a vision system which can view the image in 360 with high-resolution depth information. The proposed vision system is compact and rigid with two fisheye cameras that provide a 360-degree field of view(FoV). Alongside, a high-resolution stereo vision camera is mounted to monitor anterior FoV for precise depth perception of the scene. To effectively calibrate the proposed camera system, we offer a novel camera calibration approach taking the advantages of Unified Camera Model representation. The proposed calibration method outperforms the state-of-the-art methods. Moreover, we proposed more affective algorithm in fusing the two fisheye images into a single unified sphere, which offers seamless stitching results. This new omni-vision rig system is designed to obtain sufficient information to be used on a robot for object detection and recognition. A large scale SLAM and dense 3D reconstruction can be achieved taking the advantage of the large FoV

An omni-RGB+D camera rig calibration and fusion using unified camera model for 3D reconstruction (Withdrawal Notice)