Calibration method of fisheye lens imaging system applied to target detection

A fisheye lens and calibration method technology, which is applied in image analysis, image data processing, instruments, etc., can solve the problems of difficulty in establishing fisheye lens camera models and complex optical structures, etc.

Inactive Publication Date: 2011-12-28
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

Due to the complex internal optical structure of the fisheye lens, generally composed of more than 10 groups of optical lenses, it is difficult to accurately establish the fisheye lens camera model

Method used

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  • Calibration method of fisheye lens imaging system applied to target detection
  • Calibration method of fisheye lens imaging system applied to target detection
  • Calibration method of fisheye lens imaging system applied to target detection

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Embodiment Construction

[0074] The calibration method of the fisheye lens imaging system applied to target detection consists of seven steps: 1. Establish the mathematical model of the fisheye lens imaging system based on the equidistant projection principle; 2. Establish the coordinates in the mathematical model of the fisheye lens imaging system relationship, establish a simplified system model; 3. According to the simplified system model of the fisheye lens, five main parameters in the calibration of the fisheye lens are derived; 4. The center point of the imaging surface O 3 (u 0 , v 0 ) calibration; 5. Calibration of the distance L from the top section of the fisheye lens to the theoretical refraction center plane; 6. Calibration of the plane torsion angle γ between the camera coordinate system and the imaging surface coordinate system; 7. The radial distortion coefficient K of the fisheye lens and the image Calibration of element aspect scale factor i.

[0075] The following practical cases s...

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Abstract

The calibration method of fisheye lens imaging system applied to target detection includes: mathematical modeling of fisheye lens imaging system based on equidistant projection, accurate calibration of internal parameters of imaging system (including center point O3(u0, v0) of imaging plane; fisheye lens The distance L between the top section of the head and the theoretical refraction center plane; the radial distortion coefficient K of the fisheye lens; the aspect ratio factor i of the pixel; the plane torsion angle γ between the camera coordinate system and the imaging surface coordinate system;), the calibration method of each parameter and supporting software. The invention aims at the omnidirectional vision system established based on the fisheye lens, analyzes the optical structure and imaging principle of the fisheye lens, introduces distortion parameters, establishes the physical model of the fisheye lens imaging system and derives the mathematical model of the system. Through the self-developed calibration program, the three-dimensional spatial information is obtained from the two-dimensional image to calibrate the parameters of the imaging system. The invention is suitable for calibrating various fish-eye panoramic lenses, and is convenient, accurate and highly practical.

Description

【Technical field】: [0001] The invention belongs to the technical field of camera calibration, and in particular relates to the calibration of an all-round vision system established with a fisheye lens and applied to target detection. 【Background technique】: [0002] Imaging system calibration is an essential step in 3D reconstruction, and the results of imaging system calibration directly affect the quality of visual information application. Simply put, imaging system calibration is to determine the parameters of the mapping relationship between three-dimensional space points and two-dimensional image points on the camera imaging plane, and each pixel is obtained through transmission projection. Therefore, the research on the calibration method of the imaging system has important theoretical significance and important practical application value. [0003] The field of view of the fisheye lens can reach 185 degrees, which can realize the stereoscopic vision perception of lar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 曹作良付华柱冯为嘉刘庆杰
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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