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Fisheye calibration method and device

A calibration method, fisheye technology, applied in image data processing, instrumentation, calculation, etc., can solve problems such as low operation efficiency

Active Publication Date: 2011-06-15
SHANGHAI JEITU SOFTWARE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of method can accurately calibrate the fisheye lens, but the existing method needs to manually select a large number of feature points on the calibration board, and the operation efficiency is very low

Method used

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  • Fisheye calibration method and device
  • Fisheye calibration method and device

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0108] figure 1 The first embodiment of the fisheye calibration method of the present invention is shown.

[0109] Step S10: Establish a semi-unit spherical model, and establish a fisheye imaging relationship on the unit spherical model. The schematic diagram of the half unit sphere model is as follows Figure 4 As shown, record a point x in the space, its imaging point on the fisheye image is (u, v), and the incident angle of the incident light pointing to the center of the unit sphere is Where θ is the angle between the incident ray and the positive direction of the Z axis of the unit sphere, is the angle between the projection of the incident ray on the XY plane of the unit sphere and the positive direction of the X-axis of the unit sphere, then the angle of incidence of the incident ray The fisheye imaging model to the imaging point (u, v) on the fisheye image is described by the following equation:

[0110] r(θ)=k 1 θ+k 2 θ 2 +k 3 θ 3 +k 4 θ 4 +k 5 θ 5 +.....

no. 2 example

[0153] figure 1 The steps of the second embodiment of the fisheye calibration method are also shown, which are described in detail as follows.

[0154] Step S10: Establish a semi-unit spherical model, and establish a fisheye imaging relationship on the unit spherical model.

[0155] The schematic diagram of the half unit sphere model is as follows Figure 4 As shown, record a point x in the space, its imaging point on the fisheye image is (u, v), and the incident angle of the incident light pointing to the center of the unit sphere is Where θ is the angle between the incident ray and the positive direction of the Z axis of the unit sphere, is the angle between the projection of the incident ray on the XY plane of the unit sphere and the positive direction of the X-axis of the unit sphere, then the angle of incidence of the incident ray The fisheye imaging model to the imaging point (u, v) on the fisheye image is described by the following equation:

[0156] r(θ)=k 1 θ+...

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Abstract

The invention discloses a fisheye calibration method and a device, which can be used for calibrating most of camera lenses, and are accurate in calibration result, simple in operation and high in efficiency. The technical scheme is that the method comprises the following steps of: establishing a half-unit spherical model, and establishing a fisheye imaging relationship on a unit spherical model; initializing internal parameters, wherein the internal parameters are parameters of a fisheye camera and have nothing to do with the external environment; calculating a homography matrix; initializingexternal parameters, wherein the external parameters are parameters between the fisheye camera and the external environment; and performing Levenberg-Marqardt (LM) iteration to minimize re-projectionerrors so as to obtain optimized internal parameters and external parameters.

Description

technical field [0001] The invention relates to a fisheye calibration technology, in particular to a fisheye calibration method and device based on polynomial fitting. Background technique [0002] The fisheye lens can obtain a large viewing angle, and it has a wide range of applications in the fields of visual surveillance, 3D modeling, virtual reality and robot navigation. Unlike our common ordinary perspective images, fisheye images have great distortion. In the fields of 3D modeling, virtual reality, and robot navigation, if you want to use a fisheye lens, you must first accurately correct the fisheye lens. This correction process is called calibration in computer vision. At present, the calibration algorithms for fisheye lenses generally fall into the following categories: [0003] Special motion-based methods: pure rotation "Panoramic mosaicing with a 180 field of view lens" or pure planar motion "Ego-motion and omnidirectional cameras". This type of method can cali...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/80
Inventor 张海威刘玉亭
Owner SHANGHAI JEITU SOFTWARE
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