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Panoramic stereo system for ASV

The ship developed as a heterogeneous autonomous vehicle experiments with geometric shoreline reconstruction and navigation. It uses visual sensors, that consist of two hyperbolic mirrors made of stainless steel and two cameras, which are reading images of the mirrors to obtain the stereo image of the ship's surroundings and the shoreline.

Ship with stereo system
The autonomous vehicle with panoramic stereo system

Each camera lens and hyperbolic mirror are waterproof sealed in the transparent acrylic tube to prevent any damage to the sensitive equipment. Cameras are mounted at the bottom of each tube.

Panoramic system Stereo image
Panoramic stereo system An image from stereo system

Panoramic stereo system was developed for Virginia Tech Autonomous surface vehicle project. Photos by the courtesy of Virginia Tech.