Image orthorectification method for fisheye camera

A fisheye camera and orthorectification technology, which is applied in the field of fisheye camera calibration and orthorectification, and fisheye image distortion correction, which can solve the problems of not meeting measurement needs and fisheye camera image distortion.

Active Publication Date: 2022-01-18
GUILIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0005] The invention discloses a fisheye camera orthorectification correction method to solve the problem t

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  • Image orthorectification method for fisheye camera
  • Image orthorectification method for fisheye camera
  • Image orthorectification method for fisheye camera

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[0022] In order to make the object, technical solution and advantages of the present invention clearer, the specific implementation details of the present invention will be further described below in conjunction with the accompanying drawings of the embodiments.

[0023] The specific steps of the fisheye camera image orthorectification method proposed by the present invention are shown in the overall design diagram ( figure 1 ).

[0024] Step 1. Establish an indoor 3D calibration field and obtain the original fisheye image.

[0025] combine figure 2 Explain the establishment of an indoor 3D calibration field. The calibration field is 6.5m long, 1.5m wide, and 4.0m high. There are 30 steel columns in total, and 10 ground control points (hereinafter referred to as GCPs) are evenly arranged on each steel column. , the distance between two adjacent steel columns is 0.75m. At the same time, an indium steel ruler is arranged under the calibration field as a standard ruler during...

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Abstract

The invention discloses an image orthorectification method for a fisheye camera. The method comprises the following implementation steps: firstly, establishing an indoor three-dimensional calibration field, establishing a free coordinate system, measuring three-dimensional space coordinates of artificial identification points, and acquiring an original fisheye image; calculating an image principal point and a camera focal length initial value, and performing coordinate transformation on an original image in combination with the spherical perspective model to remove spherical distortion; then constructing a fisheye camera optical distortion model, introducing the model into a direct linear transformation (DLT) model to obtain the fisheye camera optical distortion model, and solving an optical distortion coefficient and internal and external orientation elements of the original image; and finally, starting from a collinear conditional expression, carrying out ortho-rectification on the perspective image without spherical distortion by adopting indirect digital differential rectification to obtain a calibration field ortho-image. According to the method, the original fisheye camera image can be subjected to ortho-rectification, the serious distortion problem of the fisheye camera image is solved, and the large-scale ortho-image can be quickly obtained by adopting the fisheye camera in a narrow space area.

Description

technical field [0001] The invention relates to the field of computer graphics processing and photogrammetry, in particular to three aspects of fisheye image distortion correction, fisheye camera calibration and orthorectification. Background technique [0002] The fisheye lens camera has a wide viewing angle, and the image acquired in one shot contains more spatial information. Therefore, in recent years, research on fisheye cameras has become more and more popular internationally, and has been gradually applied in robot navigation, planetary exploration, panoramic monitoring, public security, pipeline detection, assisted driving, on-site inspection, vehicle inspection and virtual reality, etc. field. However, due to the short focal length and complex structure of the fisheye lens, the fisheye image has serious distortion, which does not conform to the central projection, let alone meet the needs of accurate measurement. Therefore, without correcting for these distortions...

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Application Information

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IPC IPC(8): G06T7/80H04N5/232H04N5/262
CPCG06T7/80H04N5/2628H04N23/80
Inventor 周国清宋汝昊谢永繁王庆阳罗梦沅
Owner GUILIN UNIVERSITY OF TECHNOLOGY
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