# Bio-inspired reconfigurable stereo vision for robotics using omnidirectional cameras

arXiv: https://arxiv.org/abs/2410.08691 · HTML: https://mlsanity.com/paper/2410.08691/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Oct 2024.

## Built on by (most cited first, 1 of 1)

- [CogStereo: Neural Stereo Matching with Implicit Spatial Cognition Embedding](https://mlsanity.com/paper/2510.22119/) (2025)

## Abstract (arXiv)

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 316deg monocular with 79deg binocular field for fast target seeking and 242deg monocular with 150deg binocular field for detailed close inspection.