Estimation of omnidirectional camera model from epipolar geometry
- 4 November 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10636919) , 485
- https://doi.org/10.1109/cvpr.2003.1211393
Abstract
We generalize the method of simultaneous linear estimation of multiple view geometry and lens distortion, introduced by Fitzgibbon at CVPR 2001, to an omnidirectional (angle of view larger than 180/spl deg/) camera. The perspective camera is replaced by a linear camera with a spherical retina and a nonlinear mapping of the sphere into the image plane. Unlike the previous distortion-based models, the new camera model is capable to describe a camera with an angle of view larger than 180/spl deg/ at the cost of introducing only one extra parameter. A suitable linearization of the camera model and of the epipolar constraint is developed in order to arrive at a quadratic eigenvalue problem for which efficient algorithms are known. The lens calibration is done from automatically established image correspondences only. Besides rigidity, no assumptions about the scene are made (e.g. presence of a calibration object). We demonstrate the method in experiments with Nikon FC-E8 fish-eye converter for COOLPIX digital camera. In practical situations, the proposed method allows to incorporate the new omnidirectional camera model into RANSAC - a robust estimation technique.Keywords
This publication has 13 references indexed in Scilit:
- Simultaneous linear estimation of multiple view geometry and lens distortionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Panoramic mosaicing with a 180° field of view lensPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Exact two-image structure from motionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Lens distortion calibration using point correspondencesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Blind removal of image non-linearitiesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A new algorithm to correct fish-eye- and strong wide-angle-lens-distortion from single imagesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The Quadratic Eigenvalue ProblemSIAM Review, 2001
- Nonmetric calibration of wide-angle lenses and polycamerasPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2000
- TriangulationComputer Vision and Image Understanding, 1997
- Intrinsic parameter calibration procedure for a (high-distortion) fish-eye lens camera with distortion model and accuracy estimation*Pattern Recognition, 1996