HOPS - A Hybrid Dual Camera Vision System

In this paper we discuss and briefly overview the class of hybrid dual camera systems. The joint use of a standard camera and of a catadioptic sensor provides this kind of sensors with their different and complementary features: while the traditional camera can be used to acquire detailed information about a limited region of interest (“foveal vision”), the omnidirectional sensor provides wide-range, but less detailed information about the surroundings (“peripheral vision”). Tracking of multiple objects/people relying on high resolution images for recognition and access control or estimating object/people velocity, dimensions and trajectory are some examples of possible automatic surveillance tasks for which hybrid dual camera systems are suitable. Furthermore, their use in (autonomous)robot navigation, allows for accurate obstacle detection, egomotion estimation and three-dimensional environment reconstruction. With one of these sensors on board, a mobile robot can be provided with all the necessary information needed to navigate safely in a dynamic environment.