Fig. 1. Imaging model of fisheye camera

Fig. 2. Schematic diagram of three axis relationship

Fig. 3. Calibration device of collimation measurement fisheye camera

Fig. 4. Coincidence point search method

Fig. 5. Radial sampling point distribution

Fig. 6. Raster sampling point distribution

Fig. 7. The indication that the optical axis does not coincide with the rolling axis

Fig. 8. Comparison of calibration effects of different methods

Fig. 9. Calibration error distribution of 4 classical camera model. (a) Stereographic projection model calibration error distribution; (b) Orthogonal projection model calibration error distribution; (c) Equisolid projection model calibration error distribution; (d) Equidistance projection model calibration error distribution

Fig. 10. Calibration results of proposed method

Fig. 11. Outfield experiment

Table 1. Model parameters of virtual fisheye camera

Table 2. Parameters of fisheye camera