This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various species, our visual system addresses traditional stereo vision limitations, i.e., immutable camera alignment with narrow fields of view, by introducing a reconfigurable stereo vision system to robotics. Our key innovations include the reconfigurable stereo vision strategy that allows dynamic camera alignment, a robust depth measurement system utilizing a nonrectified geometrical method combined with a deep neural network for feature matching, and a geometrical compensation technique to enhance visual accuracy. Implemented on a metamorphic robot, this vision system demonstrates its great adaptability to various scenarios by switching its configurations of 316° monocular with 79° binocular field for fast target seeking and 242° monocular with 150° binocular field for detailed close inspection.

翻译：本研究提出一种新颖的仿生可重构立体视觉系统，应用于机器人领域，通过利用全向摄像头及创新算法实现灵活的视觉能力。受多种生物自适应视觉机制启发，本视觉系统针对传统立体视觉中相机位姿固定、视场狭窄的局限性，为机器人引入了可重构的立体视觉方案。核心创新包括：支持动态相机位姿调整的可重构立体视觉策略；采用非校正几何方法结合深度神经网络进行特征匹配的鲁棒深度测量系统；以及提升视觉精度的几何补偿技术。该系统在变形机器人上实现，通过切换配置（316°单眼视场与79°双眼视场用于快速目标搜寻，242°单眼视场与150°双眼视场用于精细近距离观测），展示了其在多种场景下的高度适应性。