基于统一球面投影机理的全景相机标定方法

Omni-directional camera calibration based on unifying spherical model

研究折光鱼眼全景相机的标定方法,采用统一球面映射原理构建相机成像模型;采用FAST算法提取棋盘格标定图像的畸变角点特征.以由粗到精的方式标定全景相机,具体分为两步:用线性矩阵的奇异值分解方法初始估计全景相机的内、外参数;并在此基础上采用非线性盒约束优化方法实现对内、外参数的精细化估计.实验结果验证了方法的有效性.

A calibration method was proposed for fish-eye omni-directional camera,and the unifying spherical projection model was used to model the camera.FAST(features from accelerated segment test)algorithm was used to detect the distorted image corners of calibration grid pattern.A two step coarse-to-fine calibration method was proposed.SVD was used(singular value decomposition)to get a coarse estimate of the intrinsic and extrinsic parameters of fish-eye camera.Then,based on the former results,the nonlinear optimization technique with box constraints was used to get a fine estimation of camera parameters.The experimental results validate the performance of our proposed methods.