Recovering Range Using Virtual Multicamera Stereo

This paper describes and demonstrates a novel method for the passive recovery of depth from a rotating linescan camera, giving information over a full eld of view. The recovery method can be regarded as either structure from known motion or as multi-camera stereo. Also described are the principles of a device comprising of a static camera and rotating plane mirror that enables the same method of range recovery, but with signicant benets in terms of mechanical simplicity and compactness