This paper provides a comprehensive survey on pioneer and state-of-the-art 3D
scene geometry estimation methodologies based on single, two, or multiple
images captured under the omnidirectional optics. We first revisit the basic
concepts of the spherical camera model, and review the most common acquisition
technologies and representation formats suitable for omnidirectional (also
called 360$^\circ$, spherical or panoramic) images and videos. We then survey
monocular layout and depth inference approaches, highlighting the recent
advances in learning-based solutions suited for spherical data. The classical
stereo matching is then revised on the spherical domain, where methodologies
for detecting and describing sparse and dense features become crucial. The
stereo matching concepts are then extrapolated for multiple view camera setups,
categorizing them among light fields, multi-view stereo, and structure from
motion (or visual simultaneous localization and mapping). We also compile and
discuss commonly adopted datasets and figures of merit indicated for each
purpose and list recent results for completeness. We conclude this paper by
pointing out current and future trends.

本文综述了基于单个、两个或多个以全景光学成像系统拍摄的图像的先驱和最先进的三维场景几何估计方法，包括基于全景数据的单目布局和深度推断、球面域上的立体匹配，以及使用多视角相机设置的光场、多视图立体和运动结构等方面的方法，并讨论了各种目的的常用数据集和性能指标。最后，指出了当前和未来的研究趋势。

从 360 度图像中估算 3D 场景几何：一项调查

3D Scene Geometry Estimation from 360$^\circ$ Imagery: A Survey

In this report, we proposed a 3D reconstruction method for the full-view
fisheye camera. The camera we used is Ricoh Theta, which captures spherical
images and has a wide field of view (FOV). The conventional stereo apporach
based on perspective camera model cannot be directly applied and instead we
used a spherical camera model to depict the relation between 3D point and its
corresponding observation in the image. We implemented a system that can
reconstruct the 3D scene using captures from two or more cameras. A GUI is also
created to allow users to control the view perspective and obtain a better
intuition of how the scene is rebuilt. Experiments showed that our
reconstruction results well preserved the structure of the scene in the real
world.

本文提出了一种基于全景鱼眼相机的三维重建方法，使用球面相机模型描述了三维点与其对应图像观测之间的关系，并通过实现一个 GUI 系统，可以控制视角并获得更好的场景感知。实验表明，我们的重建结果能够很好地保留真实世界场景的结构。