中文摘要：

为满足机器人导航、视频监视和场景建模等领域实时获取全景深度信息的需要，提出了一种利用2个双曲面折反射相机同轴放置实现全景立体成像的方法，并推导了这种全景立体视觉系统的深度计算公式。为了简化全景立体图像对的匹配和深度计算，建立了满足针孔成像模型的虚拟柱面相机，使通常的双目视觉算法适用于柱面全景图像对的深度信息提取。建立了全景立体成像实验装置，提取出了反映场景深度信息的360°柱面全景浓密视差图。

英文摘要：

In a lot of fields,such as robot navigation,video surveillance, and site modeling, etc, there are needs to obtain the omnidirectional depth information of scene in real-time. In this paper,a method to realize panoramic stereo imaging utilizing two coaxial hyperboloid catadioptric cameras is presented,and its depth computational formulae are derived. In order to simplify stereo matching and depth calculation, a virtual cylindrical camera satisfying the pinhole camera model is established. By this way,the usual binocular vision technique can be used to extract depth information form cylindrical panoramic stereo image pair. The panoramic stereo imaging experimental system is established, and the 360° panoramic dense disparity map including depth information is picked up.