A calibration method of Stereo Omnidirectional System (SOS)

We have developed a system called the Stereo Omnidirectional System (SOS). The stereo units, which are composed of three cameras, in this system are arranged on each plane of regular icosahedrons. This system can acquire all directional color and stereo pair images, in real time. However calibrating this multi-camera system, which acquires images in different directions from the center of the system, is difficult because simultaneously acquiring images of common regions from multiple cameras is not possible. We described a hybrid calibration method in which the translation parameters use the system design parameters and the rotational parameters are obtained from the images. These adjustments are made because of the difficulty in accurately, obtaining the translation and rotational parameters from the images so that they can be compared. We also described how the color registration method uses common region images acquired from the system.