Imaging model of the off-axis non-central spherical mirrored stereo vision sensor

In order to expand the field-of-view of mirrored stereo vision sensor, replacing planar mirrors with spherical mirrors has become an effective solution. However, using the convex spherical mirror for reflection imaging will lead to image curl deformation. In this paper, to address the limitation of the structure, we proposed a novel imaging model of the off-axis non-central spherical mirrored vision sensor. This model can realize the points mapping from three-dimensional space to the two-dimensional image plane through the spherical mirror reflection. We derived the imaging model based on the optical path tracing principle, and established the corresponding relationship between spherical and planar mirrored virtual points to realize spherical distortion rectification. The imaging effect of the model was verified, and noises were added for error analysis. The research quantitatively describes the mapping relationship and expands the field-of-view, providing a new idea for establishing the measurement model of mirrored stereo vision sensor.