Jun Wu, Lingrong Wang, Mingyi Huang, Zhiyong Peng. High Precision Calibration of Fisheye Camera with Single Image under Multiple Geometric Constraints[J]. Acta Optica Sinica, 2018, 38(11): 1115001
- Acta Optica Sinica
- Vol. 38, Issue 11, 1115001 (2018)
Fig. 1. Schematic of fisheye camera imaging
Fig. 2. Orthogonal projection model
Fig. 3. Schematic of scanning bounding box of fisheye image contours. (a) Field of view is 180°; (b) field of view is less than 180°
Fig. 4. Schematic of vanishing points of parallel spatial lines under spherical perspective projection
Fig. 5. Schematic of two types of fisheye cameras to calibrate. (a) TypeⅠ; (b) typeⅡ
Fig. 6. Images by fisheye camera TypeⅠ. (a) Checkerboard calibration image; (b) outdoor scene image
Fig. 7. Images by fisheye camera type Ⅱ. (a) Checkerboard calibration image; (b) indoor scene image
Fig. 8. Schematic of contour bounding box extraction and ellipse fitting of fisheye image. (a) Contour bounding box; (b) fitting ellipses
Fig. 9. Error distributions of re-projection. (a) Camera typeⅠ; (b) camera typeⅡ
Fig. 10. Schematic of test images for camera typeⅠand cubic box expansion. (a)-(d) Edge test images; (e)-(h) cubic box expansion of test images
Fig. 11. Schematic of test images for camera typeⅡand cubic box expansion. (a)(b) Edge test images; (c)(d) cubic box expansion of test images
Fig. 12. Cubic box expansion comparison of fisheye images for indoor and outdoor scenes. (a)(b) Results by toolbox; (c)(d) results by proposed method
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Table 1. Initial parameters of fisheye cameras to calibrate
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Table 2. Globally optimized parameters of fisheye cameras to calibrate
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Table 3. Calibration parameters and image correction line fitting RMSE of camera typeⅠ
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Table 4. Calibration parameters and image correction line fitting RMSE of camera typeⅡ
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Table 5. Calibration parameters in online calibration toolbox and their re-projection RMSE
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Table 6. Parameters in calibration toolbox for camera typeⅠand image correction line fitting RMSE
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Table 7. Parameters in calibration toolbox for camera typeⅡ and image correction line fitting RMSE
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