Determination of the Common View Field in Hybrid Vision System and 3D Reconstruction Method

A hybrid vision system is constructed by a monocular camera and an omnidirectional camera.The epipolar geometry of this system is analyzed and a method to determine the common view filed of this system is proposed.Scale invariant feature transform(SIFT) features are extracted in the common view field.During the feature points' initial matching process,the angle between the SIFT descriptor vectors is considered as the constraint condition.In order to eliminate the error matching in initial results,the epipolar constraint is used to obtain the correct feature matching.Finally,3D reconstruction of the local scene is realized.Experimental results show that the reconstruction method is feasible and practical.