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

翻译：本研究提出了一种新颖的仿生可重构立体视觉系统，用于机器人领域，该系统利用全景相机及一种创新算法以实现灵活的视觉能力。受多种生物自适应视觉的启发，我们的视觉系统通过为机器人引入可重构立体视觉系统，解决了传统立体视觉的局限性，即相机位姿固定且视场狭窄。我们的核心创新包括：允许动态相机对准的可重构立体视觉策略；一种结合深度神经网络进行特征匹配的非校正几何方法实现的鲁棒深度测量系统；以及一种用于提升视觉精度的几何补偿技术。该系统在一个可变形机器人上实现，通过切换其视觉配置（316°单目与79°双目视场用于快速目标搜索，以及242°单目与150°双目视场用于精细近距离观察），展示了其对多种场景的卓越适应能力。