Providing a New Method for Visual and Geometric Reconstruction of Environment based on Stereo Panorama

3D urban reconstruction with access to geometric and visual information is used by many organizations. In this regard, using stereo panorama as an image-based method is attended by many manufacturers and users of the urban maps because of the simplicity and providing real visibility. In this paper, a new stereo panorama system based on stereo cameras (that is patented) is presented and three-dimensional reconstruction of urban environments using the system is expressed. Moreover in this article, the process of registration between the stereo panoramic images at different stations is also described to cover whole area. Finally, geometric and visual reconstruction of part of a street was evaluated by the mentioned stereo panorama system. The results of the reconstruction of the environment revealed that unlike most stereo panorama systems in which access to geometric information is sometimes difficult, in the proposed method, in addition to providing a visual space of the environment, geometric measurements is easily possible and achieving the desired accuracy that is needed in urban projects (large map with scale of 1:1000) is possible.