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 This study integrates panoramic imaging and stereo vision theory to propose an innovative 3D optical positioning method for single-camera panoramic stereo imaging systems. The conventional single-viewpoint theory based on pinhole modeling is replaced by a skew ray tracing methodology to establish the geometrical relationships of object and image. An analytical model of a single-CCD panoramic stereo imaging system is then established by adopting a catadioptric imaging system, a single-CCD stereo panoramic vision system and the presented skew ray camera calibration method.
 中文摘要 --------------------------------------------------------------------- i英文摘要 --------------------------------------------------------------------- ii誌謝 --------------------------------------------------------------------- iii目錄 --------------------------------------------------------------------- iv表目錄 --------------------------------------------------------------------- v圖目錄 --------------------------------------------------------------------- vi符號說明 --------------------------------------------------------------------- viii一、 緒論--------------------------------------------------------------- 1二、 文獻回顧--------------------------------------------------------- 22.1 幾何光學基本定理--------------------------------------------- 22.2 單色像差--------------------------------------------------------- 52.3 照相機校正------------------------------------------------------ 82.4 齊次座標轉換--------------------------------------------------- 9三、 歪斜光線追蹤法------------------------------------------------ 163.1 旋轉曲面參數式------------------------------------------------ 163.2 歪斜光線之折射與反射--------------------------------------- 193.3 平面邊界--------------------------------------------------------- 243.4 圓柱邊界--------------------------------------------------------- 263.5 球面邊界--------------------------------------------------------- 283.6 拋物面邊界------------------------------------------------------ 31四、 系統成像模型--------------------------------------------------- 354.1 單照相機全景立體成像系統結構--------------------------- 354.2 單照相機全景立體成像系統建模--------------------------- 36五、 實驗驗證--------------------------------------------------------- 405.1 實驗設備--------------------------------------------------------- 405.2 實驗過程--------------------------------------------------------- 445.3 實驗結果及分析------------------------------------------------ 47六、 結論--------------------------------------------------------------- 49參考文獻 --------------------------------------------------------------------- 51
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