Date of Award


Document Type



Santa Clara : Santa Clara University, 2016.

Degree Name

Master of Science (MS)


Computer Engineering

First Advisor

Nam Ling


With advancement of research in robotics and computer vision, an increasingly high number of applications require the understanding of a scene in three dimensions. A variety of systems are deployed to do the same. This thesis explores a novel 3D imaging technique. This involves the use of catadioptric cameras in a stereoscopic arrangement. A secondary system aims to stabilize the system in the event that the cameras are misaligned during operation. The system provides a stark advantage due to it being a cost effective alternative to present day standard state-of-the-art systems that achieve the same goal of 3D imaging. The compromise lies in the quality of depth estimation, which can be overcome with a different imager and calibration. The result was a panoramic disparity map generated by the system.