Correction method of fisheye image distortion on basis of cubic projection

Abstract

The invention belongs to the field of advanced manufacturing technology, relating to a correction method of fisheye image distortion on the basis of cubic projection. The correction method comprises the following steps: 1. using a fisheye lens to obtain an imaging model, and calibrating the fisheye lens according to the imaging model to obtain a calibration parameter; 2. according to the collected fisheye image, determining a viewpoint, taking the viewpoint as the original point of a coordinate system, and building a cubic perspective projection model to obtain the cubic perspective projection of a spatial point; 3. building a mapping relation between the cubic perspective projection of the spatial point and the fisheye image; and 4. using bilinearity interpolation to realize the distortion correction of the fisheye image. The invention utilizes a cubic projection model to correct distorted fisheye images and can effectively overcome the geometric distortion existing in the original fisheye images, and the corrected image conforms to the intuitional feeling of people and has strong sense of reality.

Description

technical field [0001] The invention belongs to the field of advanced manufacturing technology and relates to a fisheye lens image distortion geometric correction method. Background technique [0002] The fisheye lens imaging stereo vision system has a wide range of applications in the visual navigation of micro-robots and the recognition and positioning of short-distance large-field objects. Field stereo vision perception, but also introduces very serious image distortion. The main reason for image distortion is that the real imaging surface of the fisheye lens is not a plane, but a curved surface that is approximately spherical. Therefore, the imaging of the fisheye lens is not an ideal perspective Projection cannot be calibrated by conventional camera calibration methods. This requires the use of a wide-angle or fisheye camera with a large field of view. But the images taken with a wide-angle or fisheye camera have very severe distortion. If we want to take advantage of ...

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Problems solved by technology

[0002] The fisheye lens imaging stereo vision system has a wide range of applications in the visual navigation of micro-robots and the recognition and positioning of short-distance large-field objects. Field stereo vision perception, but also introduces very serious image distortion. The main reason for image distortion is that the real imaging surface of the fisheye lens is not a plane, but a curved surface that is approximately spherical. Therefore, the imaging of the fisheye lens is not an ideal perspective Projection, cannot be calibrated by conventional camera calibration methods

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