Design and Calibration of an Omni-RGB plus D Camera

International audience; In this paper, we present the design of a new camera combining both predator-like and prey-like vision features. This setup provides both a spherical RGB-view and a directional depth-view of the environment. The model and calibration of the full set-up are described. A few examples will be given to demonstrate the interest and the versatility of such camera for robotics and video surveillance at the oral presentation.