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This paper deals with improving the accuracy of a fisheye stereo camera by correcting images using a disparity offset map, which is a map of disparity errors that are calculated from the disparity of the feature points obtained from an object with a known distance. By correcting the disparity errors and aligning the images, errors, such as those due to the insufficient calibration of the camera parameters, are reduced. A disparity offset map is constructed, and the accuracy of the distance measurement of a fisheye stereo camera using the disparity offset map is evaluated by experiments.

This paper proposes a method of stereo rectification for stereo camera using two fisheye cameras. Rectification parameters are estimated from feature points obtained from an image of an arbitrary environment. Errors due to deviation of the position and rotation of the left and right cameras are removed by stereo rectification. The performance of the fisheye stereo camera using equirectangular images is evaluated by simulation and experiments. It is shown that accuracy of range measurement is improved by the proposed rectification.