Design and calibration of an omni-RGB+D camera

Abstract

International audienceIn this paper, we present the design of a new camera combining both predator-like and prey-like vision features. This setup provides both a spherical RGB-view and a directional depth-view of the environment. The model and calibration of the full setup are described. A few examples will be given to demonstrate the interest and the versatility of such camera for robotics and video surveillance at the oral presentation

Design and Calibration of a Specialized Polydioptric Camera Rig

“…An omnivision camera rig has been developed (see Figure 1) using two fisheye cameras with field of view of approximately 185°each, which are fixed opposite to each other facing laterally, so as to cover 360°in horizontal and vertical (Jamaluddin et al, 2016). A depth camera, namely "ZED Camera, " is also mounted in front of the rig that covers the anterior view providing high-resolution RGB + depth image (StereoLabs, 2016).…”

Influence of drop size distribution and kinetic energy in precipitation modelling for laboratory rainfall simulators

“…and labour required and can be easily adapted for laboratory studies (Moussouni et al, 2014;Nampula et al, 2016). Meanwhile according to Iserloh et.…”

“…The spray nozzle mechanism is when the water exits at an initial velocity different from zero because it is subjected to a determined initial pressure (Nampula et al, 2016). This simulator can provide rainfall of different intensity so that it is possible to simulate the characteristics of natural rainfall according to the study area (Navas et al, 1990;Cerdà et al, 1997;Abudi et al, 2012;Nampula et al, 2016).…”

“…The spray nozzle mechanism is when the water exits at an initial velocity different from zero because it is subjected to a determined initial pressure (Nampula et al, 2016). This simulator can provide rainfall of different intensity so that it is possible to simulate the characteristics of natural rainfall according to the study area (Navas et al, 1990;Cerdà et al, 1997;Abudi et al, 2012;Nampula et al, 2016). The problem with this simulator is that very high and unnatural intensities are required to obtain droplet sizes similar to those of natural rainfall, so they require mechanisms that allow them to be diminished while preserving the dimensions of the droplets.…”

“…The problem with this simulator is that very high and unnatural intensities are required to obtain droplet sizes similar to those of natural rainfall, so they require mechanisms that allow them to be diminished while preserving the dimensions of the droplets. Rotary discs with a radial groove, a nozzle in an oscillating system, and oscillating motion sprinklers have been used in Mexico (Paige et al, 2004;Nampula et al, 2016). Another important feature is the size of the raindrop, as this will influence the intensity of the raindrop and the final kinetic energy.…”