Omnidirectional Stereo Vision Study from Vertical and Horizontal Stereo Configuration

In stereo vision, an omnidirectional camera has high distortion compared to a standard camera, so the calibration is very decisive in its matching. this study, we will perform matching for with vertical and horizontal configuration that result of image's depth 360-degree field view by transforming image using calibration-based method. The configuration, can be matched directly, but configuring image, it necessary carry out different stereo-matching process each direction. Stereo semi-global method better results than block more objects detectable maximum disparity value 32 pixels window size 21 pixels.