Abstract
The fish-eye lens camera offers the advantage of efficient acquisition of image data through a wide field of view. However, unlike the popular perspective projection camera, a strong distortion effect appears as the periphery of the image is compressed. Such characteristics must be precisely analyzed through camera self-calibration. In this study, we carried out a fish-eye lens camera self-calibration while considering different types of test objects and projection models. Self-calibration was performed using the V-, A-, Plane-, and Room-type test objects. In the fish-eye lens camera, the V-type test object was the most advantageous for ensuring the accuracy of the principal point coordinates and focal length, because the correlations between parameters were relatively low. On the other hand, the other test objects were advantageous for ensuring the accuracy of distortion parameters because of the well-distributed image points. Based on the above analysis, we proposed, an accurate fish-eye lens camera self-calibration method that applies the V-type test object. The RMS-residuals of the proposed method were less than 1 pixel.
Highlights
The fish-eye lens camera has the advantage of having, relative to a conventional optical camera, a wider viewing angle for recording of color (RGB) information within a wide area, by compressively recording the outer part of the camera image relative to the center part
This study was conducted in three steps: (i) mathematical analysis of fish-eye lens projection and perspective projection model, (ii) self-calibration analysis of fish-eye lens camera and perspective projection camera in each test-bed type, and (iii) proposed fish-eye lens camera self-calibration method based on analysis of (ii) and additional experiments
In ‘mathematical analysis for projection model’, the mathematical basis that each projection model shows a different correlation tendency was confirmed based on the partial derivatives of the fish-eye lens projection model
Summary
The fish-eye lens camera has the advantage of having, relative to a conventional optical camera, a wider viewing angle for recording of color (RGB) information within a wide area, by compressively recording the outer part of the camera image relative to the center part. Due to these advantages of the fish-eye lens camera, it has been used for indoor and outdoor 3D modeling, augmented reality, and Simultaneous Localization And Mapping (SLAM) in the fields of remote sensing, surveying, and robotics. The IOPs include principal point coordinates (xp , yp ), focal length (f), and distortion parameters
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