In this paper, we present a framework for novel
catadioptric stereo camera system that uses a single
camera and a single lens with conic mirrors. Various
possible designs of the catadioptric stereo system with
single-viewpoint constraint have been developed in
this framework. The proposed systems are compact
wide-baseline stereo systems with a panoramic view.
The simple structures of the systems reduce the
problems of misalignment between the camera and
mirrors, which make the system free of complex search
procedure for epipolar line. The wide baseline enables
accurate 3D-reconstruction of the environment.
Additionally, the system has all the advantages of the
single camera stereo system that stem from the same
physical characteristics of the camera. The feasibility
of the system as a practical stereo sensor has been
demonstrated