Measuring the distance is one of the main objectives for sensor development. In this article, we present a new sensor system design for depth recovery. It is based on stereopsis with the integrated rotation of an image sensor. Different from conventional stereo vision systems with multiple cameras, the proposed rotational stereo configuration is built upon a single imaging device. By directing its lateral motion with a circular constraint, the visual parallax is generated from multiple viewpoints. The image pairs captured with the integrated sensor rotation are used for the correspondence matching and disparity computation. Moreover, a variation of multiple-baseline stereo with multiple base-angle implementation is proposed. It provides a flexible baseline setting to improve the depth measurement accuracy. The geometric formulation and computational algorithm are derived and developed. In the experiments, a prototype range sensing device is constructed. The results obtained from the real scene environment have demonstrated the feasibility of the proposed depth measurement approach.

中文翻译：

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基于集成相机旋转的立体视觉的深度测量


测量距离是传感器开发的主要目标之一。在本文中，我们提出了一种用于深度恢复的新传感器系统设计。它基于具有图像传感器集成旋转的立体视觉。与具有多个摄像机的传统立体视觉系统不同，所提出的旋转立体配置建立在单个成像设备上。通过用圆形约束引导其横向运动，从多个视点生成视觉视差。通过集成传感器旋转捕获的图像对用于对应匹配和视差计算。此外，还提出了一种具有多基角实现的多基线立体声的变体。它提供灵活的基线设置，以提高深度测量精度。导出并开发了几何公式和计算算法。在实验中，构建了原型距离传感装置。从真实场景环境获得的结果证明了所提出的深度测量方法的可行性。