A Structured-Light-Based Panoramic Depth Camera

A three-dimensional environment perception camera based on structured light and panoramic vision is proposed. A panoramic camera is designed to satisfy the single-viewpoint constraint by combining a hyperbolic reflector and common perspective zoom lens. A near-infrared ray laser is used to project structured light patterns to the environment for a panoramic camera. The camera includes a charge-coupled device sensor, which has a wide sensitivity spectrum such that it can receive near-infrared light and visible light at the same time. We propose a new method of calibrating the panoramic camera and laser light plane to calculate the point cloud more precisely. Finally, we conduct an experiment to evaluate the performance of the camera.