WO2020104989A1

WO2020104989A1 - Arrangement of multiple cameras in a multi-directional stereo camera system

Info

Publication number: WO2020104989A1
Application number: PCT/IB2019/060032
Authority: WO
Inventors: Gregor Rozinaj
Original assignee: Slovenská Technická Univerzita V Bratislave
Priority date: 2018-11-22
Filing date: 2019-11-21
Publication date: 2020-05-28
Also published as: WO2020104989A4

Abstract

Arrangement of cameras (3) includes at least three camera nests (2) in which the cameras (3) are arranged in such a way that the axis (2) of the field of vision of each camera (3) in the camera nest (2) lies in a common plane (p) of the camera nest (2) and such axes (2) of the fields of vision intersect in a common point which forms the center of the camera nest (2). The normal lines (n) running from each centers of the camera nests (2) intersect in a common point which is the center of the holder's body (1 ). In planar arrangement the holder's body (1) includes a carrier construction in shape of a regular horizontal polygon, whereby in each cusp of the regular polygon there is a camera nest (2) whose number of cameras (3) is chosen in such a way that the camera nest (3) offers a quality 360° view in the vertical direction. In a spatial arrangement the holder's body (1) includes a carrier construction in shape of a regular polyhedron, whereby in each cusp of the regular polyhedron there is a camera nest (2) whose number of cameras is a multiple of the number of edges of the polyhedron's cusp.

Description

ARRANGEMENT OF MULTIPLE CAMERAS IN A MULTI-DIRECTIONAL STEREO CAMERA SYSTEM

Field of technology

The invention concerns the construction of the multi-directional stereo camera system on the basis of horizontal and spatial arrangement of the cameras. The invention belongs to the field of information and communication technologies.

Prior state of the art

Technologies of recording the dynamic image by cameras are generally known. The simplest technology is a recording of the image by means of standard mono camera which does not ensure the depth of the image during projection. Stereo camera is already better, since it allows 3D projection in a single viewing direction when combined with other components. Panoramic recorded continuous mono image alongside the horizon can be produced by a 306° camera system composed of multiple cameras, for example 16 cameras arranged in a horizontal plane with the radially oriented optical axes. The next step is a 360° camera system for stereo recording. Company SAMSUNG has construed a 360° camera system, but only with horizontal stereo view. From the construction point of view, it is arranged always as a system of pairs of cameras on the opposite sides of the circle, angularly arranged in multiple horizontal segments. A camera system with spherical arrangement of the mono cameras arranged on the surface of the sphere is also known, and it allows a projection but only of a mono image in all directions and it is impossible to see the depth of the space. Camera systems for recording of the space for the autonomous wheelchairs of the handicapped people with arrangement of multiple - for example, five - stereo cameras in 360° horizon are known, too, whereby they achieve a 360° horizontal stereo view. Even though the camera system has one further stereo camera directed upwards vertically and one stereo camera directed downwards vertically, the omnidirectional stereo view is achieved only in a single direction, or the stereo image is not always ensured.

In order to meet the difficult criteria for recording of the stereo view in the horizontal 360° plane and, at the same time, in the vertical 360° plane, an effort arose to solve this problem by suitable technical means. The results of this effort are the further disclosed multidirectional stereo camera system on the basis of horizontal and/or spatial arrangement of the cameras according to this invention.

Solutions pursuant to publications EP3229073 A1 , CN 105739231 A, WO2014071400 A1 , USD803288 S, US2012154521 A1 , US2018063507 A1 , US2015145952 A1 use independent cameras which are mainly arranged flatly in a single plane, for example in the horizontal plane. Such solutions do not bring sufficient quality of the choice of the upward or downward view and they also do not ensure actual stereo image in all spatial directions. This is partially solved by publications W02004109385, US5023725 A, US10057487 B1 , CN103149788 A, US2015348580 A1 where the cameras are spatially distributed, but the used radial orientation of individual cameras does not ensure reliable stereo image.

Such solution is desired and not known, which will be simple not only from the point of view of the construction of the holder’s body, but which would allow for processing of the data originating in individual cameras during the synthesis of the downward view, whereby the solution shall offer an actual stereo view of the same quality in all directions.

Essence of the invention

The abovementioned deficiencies are significantly remedied by the arrangement of multiple cameras into the multidirectional stereo camera system, where the individual cameras are immovably placed mutually against each other in such a way that their fields of vision include the space exceeding the field of vision of a single camera, whereby at least some points of space lie simultaneously in the field of vision of two cameras, according to this invention which essence lies in the fact that it includes at least three camera nests in which the cameras are placed in such a way that the axis of the field of vision of each camera in the camera nest lies in the common plane of the nest and these axes of the fields of vision intersect in the common point which forms the center of the camera nest, whereby the normal lines running from all centers of the camera nests interact in a common point.

The term“axis of the field of vision” in this text denotes the central line led in the space between the limit angles of the display of the respective camera. Usually, the axis of the field of vision will correspond to the optical axis of the used lens, which means that the axis of the field of vision is led through the point which the camera lens directly perceives. Actually, the axis of the lens does not have to be identical with the axis of the field of vision and for the determination of the axis of the field of vision it is important that the resulting image from the respective camera is available on its data output. For example, if the camera has the angle of vision 120°, one can presume that in the angle of 60° from the edge of the field of vision there is a field of vision of this camera.“Normal line of the camera nest” usually means a line perpendicular to all axes of the field of vision of the cameras in the respective camera nest.

The intersection of the normal lines of the camera nests is necessary to interpret in this text as intended goal which, pursuant to the chosen precision of the optics and pursuant to the precision of the mounting, is considered to be met even at large angular irregularities in order up to ±5°.

Within a single camera nest there is such number of individual cameras that these can cover the whole circumference of the circle (360°) which runs in the common plane of the camera nest. Theoretically and with large optical error two cameras suffice (fisheye); in fact, there will be three at minimum, whereby they are distributed in such a way that the fields of vision of the neighboring cameras within a single camera nest follow continuously upon each other or that they even partially overlap.

The essence of the invention is also in the fact that the individual cameras are not distributed - as it is hitherto realized - in a radial arrangement, for example in such a way that they are distributed on the circumference of the spherical body and the axis of their field of vision heads as a normal line to the surface of the sphere, but the cameras are distributed in such a way that they are placed in the separate groups within the camera nest which is oriented, within the body of the holder, against the other camera nests in such a way that the axes of the fields of vision are directed tangentially towards the body of the holder. A solution is also possible where these axes of the fields of vision deviate from the tangent in up to 60°; then the axes of the fields of vision of the respective camera nest lie in the common conical surface whereby the deviation from the tangent is oriented outwards, that is, from the body of the holder to the surrounding space.

The holder’s body can have various shapes which will depend mainly on the number of used camera nests. Since the normal lines of all camera nests should be directed to the common point and use of identical cameras with identical angles of vision within a single camera nest as well as within the whole set is possible, it will be preferable if the middles of the camera nests will be on the peaks of the flat or spatial body only with a certain possibility. The typical example of the holder’s body is regular polyhedron (Platonic body). The specific case of the holder’s body is planar object in the shape of a regular polygon. The camera nests are placed on the peaks of the holder’s body, whereby the axis of the camera nests is directed to the middle of the holder’s body. The result will be regular quality of the image in any direction. The planar or spatial regularity, or at least an element repeated within the structure of the holder’s body, respectively, bring an advantage in form of the simpler and quicker image processing, too. The normal lines of all camera nests will intersect, or approximately intersect, in the middle of the holder’s body which carries all camera nests on its tips or peaks.

The holder’s body can form flat triangle with three cusps, flat hexagon with six cusps, spatial regular tetrahedron with four cusps, spatial regular hexahedron with eight cusps, spatial regular dodecahedron with twenty cusps, spatial regular icosahedron with twelve cusps, and so on, with the points in which the centers of the camera nests are.

The deficiencies in the prior state of the art are significantly remedied, pursuant to the earlier mentioned essence of the arrangement, by the multidirectional stereo camera system on the basis of horizontal arrangement of the cameras pursuant to one realization according to this invention. The essence of the multidirectional stereo camera system on the basis of horizontal arrangement of the cameras is that it consists of the carrier construction of the regular horizontal polygon, whereby in each cusp of the horizontal polygon there is positioned a 360° camera nest. The carrier construction forms the holder’s body. The axis of rotation of the view of the 360° camera nest runs through the center of the regular horizontal polygon. From the point of view of data transfer the outputs from cameras from the 360° camera nests are connected to the communication channel. The 360° camera can be construed by arrangement of standard cameras into the circle. The regular horizontal polygon is, for example, the triangle with the cameras in each of its 360° camera nests. The regular horizontal polygon is, for example, pentagon with cameras in each of its 360° camera nests, too. The regular horizontal polygon is also, for example, hexagon with cameras in each of its 360° camera nests. The deficiencies in the prior art pursuant to the essence of the arrangement mentioned earlier are significantly remedied by the multidirectional stereo camera system, too, according to further realization of this invention. The essence of the multidirectional stereo camera system on the basis of the spatial arrangement of the cameras is that it consists of a carrier construction of the regular polyhedron, whereby in the cusps of the regular polyhedron a 360° camera nest is positioned. In this arrangement the holder’s body is formed by the spatial carrier construction of the regular polyhedron. For each polyhedron a certain number of cameras in the 360° camera nest is common. The number of cameras is multiple of the number of edges of the polyhedron’s cusp. In case the number of cameras is multiple of the number of edges, the situation of a camera’s position is the same at each edge of the polygon, which significantly simplifies the methods of image composition for individual cameras into a left/right view in a required direction. The 360° orientation of a camera nest is such that the axis of rotation of the view of the 360° camera nest runs through the center of the regular polyhedron. From the point of view of the data transfer the outputs from the cameras from the 360° camera nests are connected to the communication channel.

The system of the cameras can be arranged in many ways. There are five types of regular polyhedrons, on each of the cusps of whose which is possible to place one 360° camera, whose axis of rotation runs through the center of the polyhedron. The 360° camera can be construed by placement of the standard cameras into a circle.

The first arrangement is a multidirectional stereo camera system where the regular polyhedron is a tetrahedron with four cusps on which each 360° camera nest has, for example, three cameras, which corresponds to the number of the edges of the polyhedron in a single polyhedron’s cusp.

The second possible arrangement is a multidirectional stereo camera system where the possible polyhedron is a hexahedron (cube) with eight cusps on which each 360° camera nest has, for example, three cameras, which corresponds to the number of the edges of the polyhedron in a single polyhedron’s cusp.

Third possible arrangement is a multidirectional stereo camera system where the possible polyhedron is an octahedron with six cusps on which each 360° camera nest has, for example, four cameras, which corresponds to the number of the edges of the polyhedron in a single polyhedron’s cusp. This regular polyhedron of the multidirectional stereo camera system is also a regular dual polyhedron to the hexahedron with eight cusps.

The fourth possible arrangement is a multidirectional stereo camera system where the possible polyhedron is an icosahedron with twelve cusps on which each 360° camera nest has, for example, five cameras, which corresponds to the number of the edges of the polyhedron in a single polyhedron’s cusp.

The fourth possible arrangement is a multidirectional stereo camera system where the possible polyhedron is a dodecahedron with twenty cusps on which each 360° camera nest has, for example, three cameras, which corresponds to the number of the edges of the polyhedron in a single polyhedron’s cusp.

The benefits of the multidirectional stereo camera system on the basis of horizontal and/or spatial arrangement of the cameras according to this invention are obvious from the outward effects. In general, it can be stated that the multidirectional stereo camera system is basically an omnidirectional stereo camera allowing for observation of the 3D scene of the camera’s surroundings by multiple distant observers, for example, by means of virtual reality (VR) glasses without the limitation of the direction of the view. The use of this principle can be variously applied, for example, in videoconference, watching of a sport event, and so on.

The arrangement of multiple cameras into the multidirectional stereo camera systems produces a stereo view in any direction not only horizontally but also vertically, or it allows to rotate the view by“askew” rotation of the position of the left and right camera, respectively. It appears that the most faithful stereo view in any direction is achieved by the multidirectional stereo camera system by means of regular dodecahedron, since it has the most cusps at number of 20, and it thus offers highest flexibility when producing the view in the desired direction. It is a system of 60 cameras placed on the twenty cusps of the regular dodecahedron in such a way that on each cusp there are three cameras arranged in such a way that they produce a 360° camera with a normal line of the camera nest directed towards the center of the dodecahedron. Each of the cameras is directed towards the center of the neighboring wall. Through the combination of images of the suitable cameras directed closest towards the desired direction we can combine left and right view of the stereo capture.

The advantage of this invention is the homogenous quality of the image in all directions whereby in all directions it is possible to produce a stereo image. The advantage is also the simpler processing of the data from the individual cameras where the regularity of the distribution and following symmetry simplify the mathematical processing, for example by a matrix computation.

One of the examples of the use can be a distant watching of the event, for example a football match. By placing the camera system on the significant place in the stadium, for example, VIP lounge, we can ensure a full-fledge watching of the events on the stadium at full 3D quality not only towards the pitch, but in all directions around it for theoretically unlimited number of viewers. Each viewer can through head movements and by means of one’s VR glasses set the direction of the 3D view, whereby all viewers use a single camera system simultaneously; the cameras do not have to physically rotate pursuant to the direction of the view of each viewer; only the data flow from respective cameras switches into the resulting image.

The placement of multiple systems on various places at the stadium, for example, upward in the center of the pitch and behind each goal, allows the viewer to choose a preferred position from which one wants to watch the sport event at a given time.

Another example of the advantageous use can be a presence of the expert during an operation, surgery or a risky intervention where the actual presence of the requested expert is not possible for some reason. The camera system can also be used in cases of distance learning where the students can be transferred virtually not only to the lecture room, but also to the distant laboratory, or watch a risky operation from afar. A use in virtual tourism is particularly attractive, where one can transfer to the distant place of the planet; this can be part of promotional advertisement of a travel agency, or a substitute for actual travels.

Description of drawings

The invention is further disclosed in drawings 1 to 7. The particular construction or carrier elements of the holder’s body and shapes of the camera nests as well as used scale and ratio between the size of the holder’s body and the cameras are all examples only, and cannot be interpreted as limiting the scope of protection.

The multidirectional camera system on the basis of planar arrangement of the cameras according to this invention is further disclosed on drawings where fig. 1 depicts a stereo camera system of the regular horizontal hexagon. The dashed ellipsis marks a detail shown in figure 2.

Figure 2 is a schematic depiction of the placement of cameras within a single cameras nest from the figure 1 , where the axes of fields of vision of six independent cameras, as well as the normal line of the camera nest, are depicted.

Multidirectional stereo camera system on the basis of the spatial arrangement of the cameras is further disclosed in drawings 3 to 7.

Figure 3 depicts the stereo camera system on the basis of the regular tetrahedron.

Figure 4 depicts the stereo camera system on the basis of the regular hexahedron.

Figure 5 depicts the stereo camera system on the basis of the regular dual octahedron.

Figure 6 depicts the stereo camera system on the basis of the regular icosahedron.

Figure 7 depicts the stereo camera system on the basis of the regular dodecahedron.

Examples of realization

It is understood that individual realizations of the multidirectional stereo camera system on the basis of horizontal and/or spatial arrangement of the cameras according to this invention are for illustration purposes only and cannot be interpreted as limiting the scope of technical solutions.

A person skilled in the art will find or will be able to find, by use of no more than routine experimentation, many equivalents to the particular realizations of the invention. Such equivalents will likewise fall within the scope of the subsequent patent claims.

Example 1

In this example of particular realization of the subject matter of the invention a single multidirectional stereo camera system is disclosed, whereby the system is on the basis of horizontal arrangement of the cameras 3 with a use of the holder’s body 1. in form of a regular polygon pursuant to fig. 1 and 2. The holder’s body 1 of the multidirectional stereo camera system consists of carrier construction of the regular horizontal polygon, in this case a hexagon, where in each of its cusps there is a 360° camera nest 2 with six cameras 3 in each 360° camera nest 2. The axis of rotation of the view is 360°, that is, the normal line n of the camera nest 2 runs through the center of the regular horizontal polygon, in this case hexagon. The outputs of the cameras 3 from the 360° camera nests 2 are connected to the communication channel.

Example 2

In this example of particular realization of the subject matter of the invention a second multidirectional stereo camera system is disclosed, whereby the system is on the basis of horizontal arrangement of the cameras 3, as described in its essence in the example 1 . The difference is that the regular horizontal polygon is a triangle with multiple cameras 3 in each of its 360° camera nests 2.

Example 3

In this example of particular realization of the subject matter of the invention a third multidirectional stereo camera system is disclosed, whereby the system is on the basis of horizontal arrangement of the cameras 3, as described in its essence in the example 1 . The difference is that the regular horizontal polygon is a quadrangle with multiple cameras 3 in each of its 360° camera nests 2.

Example 4

In this example of particular realization of the subject matter of the invention a fourth multidirectional stereo camera system is disclosed, whereby the system is on the basis of horizontal arrangement of the cameras 3, as described in its essence in the example 1 . The difference is that the regular horizontal polygon is a pentagon with multiple cameras 3 in each of its 360° camera nests 2.

The examples can be broadened to any regular polygon which will form a holder’s body 1_, that is, a skeleton of the multidirectional stereo camera system on the basis of the horizontal arrangement of the cameras 3. Example 5

In this example of particular realization of the subject matter of the invention a multidirectional stereo camera system on the basis of the spatial arrangement of the cameras 3 with use of the holder’s body 1 in form of a regular tetrahedron pursuant to fig. 3 is disclosed. The body 1. of the holder of the multidirectional stereo camera system thus consists of carrier construction of the regular tetrahedron with four cusps. In each cusp there is a 360° camera nest 2, each consisting of three cameras 3. This multidirectional stereo camera system thus contains twelve cameras 3. The orientation of the 360° camera nest 2 is such that the axis of rotation of the view of the 360° camera nest 2, that is, its normal line n, runs through the center of the regular tetrahedron. The outputs from the cameras 3 from the 360° camera nests 2 are connected to the communication channel.

An alternative possibility according to this example exists, where each camera nest 2 consists of nine cameras 3.

Example 6

In this example of particular realization of the subject matter of the invention a multidirectional stereo camera system on the basis of the spatial arrangement of the cameras 3 with use of the holder’s body 1 in form of a regular hexahedron pursuant to fig. 4 is disclosed. The body 1 of the holder of the multidirectional stereo camera system thus consists of carrier construction of the regular hexahedron with eight cusps. In each cusp there is a 360° camera nest 2, each consisting of three cameras 3. This multidirectional stereo camera system thus contains twenty-four cameras 3. The orientation of the 360° camera nest 2 is such that the axis of rotation of the view of the 360° camera nest 2, that is, its normal line n, runs through the center of the regular hexahedron. The outputs from the cameras 3 from the 360° camera nests 2 are connected to the communication channel.

An alternative possibility according to this example exists, where each camera nest 2 consists of six cameras 3.

Example 7

In this example of particular realization of the subject matter of the invention a multidirectional stereo camera system on the basis of the spatial arrangement of the cameras 3 with use of the holder’s body 1 in form of a regular octahedron pursuant to fig. 5 is disclosed. The body 1. of the holder of the multidirectional stereo camera system thus consists of carrier construction of the regular octahedron with six cusps. In each cusp there is a 360° camera nest 2, each consisting of four cameras 3. This multidirectional stereo camera system thus contains twenty-four cameras 3. The orientation of the 360° camera nest 2 is such that the axis of rotation of the view of the 360° camera nest 2, that is, its normal line n, runs through the center of the regular octahedron. The outputs from the cameras 3 from the 360° camera nests 2 are connected to the communication channel.

An alternative possibility according to this example exists, where each camera nest 2 consists of eight cameras 3.

Example 8

In this example of particular realization of the subject matter of the invention a multidirectional stereo camera system on the basis of the spatial arrangement of the cameras 3 with use of the holder’s body 1 in form of a regular icosahedron pursuant to fig. 6 is disclosed. The body 1 of the holder of the multidirectional stereo camera system thus consists of carrier construction of the regular icosahedron with twelve cusps. In each cusp there is a 360° camera nest 2, each consisting of five cameras 3. This multidirectional stereo camera system thus contains sixty cameras 3. The orientation of the 360° camera nest 2 is such that the axis of rotation of the view of the 360° camera nest 2, that is, its normal line n, runs through the center of the regular icosahedron. The outputs from the cameras 3 from the 360° camera nests 2 are connected to the communication channel.

An alternative possibility according to this example exists, where each camera nest 2 consists of ten cameras 3.

Example 9

In this example of particular realization of the subject matter of the invention a multidirectional stereo camera system on the basis of the spatial arrangement of the cameras 3 with use of the holder’s body 1 in form of a regular dodecahedron pursuant n to fig. 7 is disclosed. The body 1. of the holder of the multidirectional stereo camera system thus consists of carrier construction of the regular dodecahedron with twenty cusps. In each cusp there is a 360° camera nest 2, each consisting of three cameras 3. This multidirectional stereo camera system thus contains sixty cameras 3. The orientation of the 360° camera nest 2 is such that the axis of rotation of the view of the 360° camera nest 2, that is, its normal line n, runs through the center of the regular dodecahedron. The outputs from the cameras 3 from the 360° camera nests 2 are connected to the communication channel.

Industrial applicability

Industrial applicability is obvious. According to this invention it is possible to repeatedly compose and use multidirectional stereo camera systems on basis of horizontal and/or spatial arrangement. The industrial applicability of the multidirectional stereo camera system exists in all its applications, for example, in cases of videoconferences, watching of sport events, and so on.

List of symbols

1 - holder’s body

2 - camera nest

3 - camera a - axis of field of vision of camera

n - normal line of camera nest

p - common surface of the camera nest / common plane of the camera nest

Claims

PAT E N T C LAI M S

1. An arrangement of multiple cameras into a multidirectional stereo camera system, where the individual cameras (3) are positioned immovably mutually against each other in such a way that a sum of fields of vision of the cameras (3) includes a whole surrounding space, whereby at least some points of the space lie simultaneously in the field of vision of two cameras (3), characterized by the fact, that

it includes at least three camera nests (2) in which the cameras (3) are placed in such a way that an axis (2) of the field of vision of each camera (3) in the camera nest (2) lies in a common surface (p) of the camera nest (2)

and these axes (a) of the fields of vision intersect in a common point which forms a center of the camera nest,

whereby normal lines (n) running from all centers of the camera nests (2) intersect in the common point.

2. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 1, characterized by the fact, that the intersection point of the normal lines (n) running from the centers of the camera nests (2) lies in the center of a holder’s body (1) which carries the camera nests (2).

3. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 1 or 2, characterized by the fact, that the axes (a) of vision of each camera (3) in the camera nest (2) form a tangent to the holder’s body (1) and the common surface of the camera nest (2) is a plane.

4. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 1 or 2, characterized by the fact, that the axes (2) of the field of vision of each camera (3) in the camera nest (2) deviate from the tangent to the holder’s body (1) by up to 60°, whereby the cameras (3) are directed outside the body (1).

5. The arrangement of multiple cameras into the multidirectional stereo camera system according to any of the claims 1 to 4, characterized by the fact, that in each camera nest (2) there is the same number of cameras (3).

6. The arrangement of multiple cameras into the multidirectional stereo camera system according to any of the claims 1 to 5, characterized by the fact, that each camera (3) in a single camera nest (2) has an identical angle of view and an angular distribution of the axes (a) in the common plane (p) of the camera nest (2) is regular.

7. The arrangement of multiple cameras into the multidirectional stereo camera system according to any of the claims 1 to 6, characterized by the fact, that all camera nests (2) have the same number of cameras (3).

8. The arrangement of multiple cameras into the multidirectional stereo camera system according to any of the claims 1 to 7, characterized by the fact, that outputs from the cameras (3) to the camera nests (2) are connected to a communication channel.

9. The arrangement of multiple cameras into the multidirectional stereo camera system according to any of the claims 1 to 8, characterized by the fact, that the holder’s body (1 ) is planar.

10. The arrangement of multiple cameras into the multidirectional stereo camera system according to any of the claims 1 to 8, characterized by the fact, that the holder’s body (1 ) is spatial.

11. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 9, characterized by the fact, that the holder’s body (1) includes a carrier construction of a regular horizontal polygon, whereby in each cusp of the regular horizontal polygon there is the 360° camera nest (2) with the cameras (3) positioned in the vertical plane (p), whereby the normal line (n) of the 360° camera nest (2) runes through a center of the regular horizontal polygon.

12. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 11, characterized by the fact, that the polygon is a triangle or a hexagon.

13. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 10, characterized by the fact, that the holder’s body (1) includes the carrier construction of a regular polyhedron, where in the cusps of the regular polyhedron the 360° camera nest (2) is positioned, whereby the number of cameras (3) is a multiple of edges of the polyhedron’s cusps, whereby the normal line (n) of the 360° camera nest (2) runs through the center of the regular polyhedron.

14. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 13, characterized by the fact, that the regular polyhedron is a tetrahedron with three or six cameras (3) in each 360° camera nest (2).

15. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 13, characterized by the fact, that the regular polyhedron is a hexahedron with three or six cameras (3) in each 360° camera nest (2).

16. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 13, characterized by the fact, that the regular polyhedron is an icosahedron with five or ten cameras (3) in each 360° camera nest (2).

17. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 13, characterized by the fact, that the regular polyhedron is a dodecahedron with three or six cameras (3) in each 360° camera nest (2).

18. The arrangement of multiple cameras into the multidirectional stereo camera system according to the claim 13, characterized by the fact, that the regular polyhedron is an octahedron with four or eight cameras (3) in each 360° camera nest (2).