Large field of view 3D detection with a bionic curved compound-eye camera

In the bionic curved compound-eye camera (BCCEC) we have invented, the overlapping field of view (FOV) among the ommatidia makes 3D detection possible. In this work, we analyzed the overlapping FOV in BCCEC in detail to prove its potential in 3D detection and designed a new experiment to test its performance. In that the FOVs of multiple ommatidia in BCCEC overlap each other, the FOV of a single ommatidium is used as a representative analysis. The relationship between the overlapping ratio of FOV and the object distance is quantitatively calculated. The results show that more than 95% of the FOV can be 3D reconstructed when the object distance exceeds 32 cm. Next, in order to realize the automatic calibration of all ommatidia, ommatidia are numbered and an addressing algorithm based on the number information of ommatidia is designed, which can be used to determine the adjacent ommatidia of any ommatidium so as to acquire the ommatidia pairs that need to be calibrated. Then, since the aperture of ommatidium is relatively small and it is difficult to accurately align, a new 3D detection experiment is designed. The laser rangefinder is fixed, the black paper is used to block the laser and the formed light spot is used as the detection target. The experimental results show that 3D detection can be performed in the whole FOV of BCCEC. The BCCEC can obtain multi-dimensional information in a large FOV, and it have greater application potential in obstacle avoidance and navigation.