Fish eye lens calibration and fish eye image distortion correction method

A technology of fisheye lens and fisheye image, which is applied in the field of fisheye lens calibration and restoration, and can solve problems such as image distortion

Inactive Publication Date: 2012-09-12
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of distortion caused by the image formed

Method used

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  • Fish eye lens calibration and fish eye image distortion correction method
  • Fish eye lens calibration and fish eye image distortion correction method
  • Fish eye lens calibration and fish eye image distortion correction method

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Embodiment 1

[0040] Step 1: Calibrate the fisheye lens. Use a fisheye lens to get a fisheye image, the principle is as follows figure 1 . And according to the least squares fitting circle method, the fisheye lens is calibrated to obtain the calibration parameters. In an imaging plane, the least squares fitting method determines the fisheye image of the center coordinates and radius. The rationale is that a circle can be defined as:

[0041] R 2 =(x-A) 2 +(y-B) 2

[0042] In the above formula, the coordinates (A, B) are the center of the circle, and R is the radius of the circle:

[0043] R 2 =x 2 -2Ax+A 2 +y 2 -2By+B 2

[0044] Let a = -2x 0 , b=-2y 0 , c=x 0 2 +y 0 2 -R 2

[0045] The general form of a circular curve then appears as:

[0046] x 2 +y 2 +ax+by+c=0

[0047] When the fitting parameters a, b, and c are known, a, b, and R can be calculated.

[0048] Let (X i , Y i )(i=1, 2, 3, ... N) is the coordinates of sampling points selected from the edges of the...

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Abstract

The invention relates to a fish eye lens calibration and fish eye image distortion correction method which belongs to the field of digital image processing and is very suitable for occasions of vision navigation, mobile monitoring and so on. Since imaging using a large wide angle will cause serious distortion, generally, imaging correction is needed to facilitate human eye observation. The method provided by the invention is mainly technically characterized by establishing a space coordinate system 1 and employing a least square curve-fitting method to calibrate a fish eye image to determine the center andthe radius of a fish eye lens, establishing a cylindrical projection model in a space coordinate system UV, and setting one-to-one relationships among an image point q2 of the fish eye image, a point q1 on object sphere and a point q projected on a cylinder, wherein q1 is in vertical projection relation with a bottom plane on which q2 is located and line q1q parallels to line oq2, thus achieving the purpose of fish eye image correction.

Description

technical field [0001] The invention belongs to the field of digital image processing, and relates to a fisheye lens calibration and a restoration method thereof. Background technique [0002] For real-time tasks, tasks with high image processing quality requirements, such as localization of mobile robot navigation or intelligent vehicles using image sensing, wide angle, and high processing speed are necessary. Ordinary lenses can only obtain the image information of the scene range of 40°-50° directly in front, and there is a large blind spot, which is difficult to meet the occasions that require large-scale observation. Panoramic vision makes up for this shortcoming, whether it is composed of a single lens or Composed of multiple lenses, it can observe the hemisphere or even the entire observation space. Since the fisheye lens has a wide angle and can easily obtain panoramic vision at one time, it is the best choice to use it to complete the imaging task. However, the di...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T5/00
Inventor 孙启湲刘俊麟马磊李刘生
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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