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2023年12月21日发(作者：echarts地图配置)
1AGenericCameraModelandCalibrationMethodforConventional,Wide-Angle,AbstractFish-eyelensesareconvenientinsuchapplicationswhereaverywideangleofviewisneededbuttheiruseformeasurementpurposeshasbeenlimitedbythelackofanaccurate,generic,eproposeagenericcameramodel,whichissuitableforfish-eyelenscamerasaswellasforconventionalandwide-anglelenscameras,ievedlevelofcalibraermscameramodel,cameracalibration,lensdistortion,fish-eyelens,UCTIONThepinholecameramodelaccompaniedwithlensdistortionmodelsisafairapproximationformostconventionalcameraswithnarrow-angleorevenwide-anglelenses[1],[6],[7].Butitisstillnotsuitableforfi-eyelensesaredesignedtocoverthewholehemisphericalfieldinfrontofthecameraandtheangleofviewisverylarge,about180◦.Moreover,itisimpossibletoprojectthehemisphericalfieldofviewonafiniteimageplanebyaperspectiveprojectionsofithereasonwhytheinherentdistortionofafish-eyelensshouldnotbeconsideredonlyasadeviationfromthepinholemodel[14].Therehavebeensomeeffortstomodeltheradiallysymmetricdistortionoffish-eyelenseswithdifferentmodels[16],[17],[20].Theideainmanyoftheseapproachesistotransformtheoriginalfi[17]and[16],theparametersofthedistortionmodelareestimatedbyforcingstraightlinesstraightafterthetransformationbut
nbeusedto“correct”theimagestofollowthepinholemodelbuttheirapplicabilityislimitedwhenoneneedstoibrationproceduresin[5]and[3]insteadaimatcalibratingfir,thesemethodsareslightlycumbersomeinpralythefirstauto-calibrationmethodsforfish-eyelenscamerashavealsoemerged[8],[9],[12].Miˇcuˇs´ıkandPajdla[8]proposedamethodforsimultaneouslindFitzgibbon[12]presentedadistortionmodelwhichlikewiseallowsthesimultaneouslinearestimationofcameramotionandlensgeometry,andThirthalaandPollefeys[9]usedthemultiview-vition,therecentworkbyBarretoandDaniilidis[10]introducedaradiheless,theemphasisintheseapproachesismoreinthpaper,weconcentrateonaccurategeometricmodelingofrealcameras.1Weproposeanovelcalibrationmethodforfish-eyelibrationmethodisbasedonagenericcameramodelthatwillbeshowntobesuitablefordiff,inSectionII,wepresentthecameramodeland,inSectionIII,ionIV,wedescribeaprocedureforestimatingtheparametersofthecameramodel,anCCAMERAMODELSincetheperspectiveprojectionmodelisnotsuitableforfish-eyelensesweuseamoreflsicmodelisintroducedinSectiationofback-projectionsisdescribedinSectionII-C.1Anearlyconferenceversionofthispaperis[2].
lySymmetricModelTheperspectiveprojectionofapinholecameracanbedescribedbythefollowingformula2r=ftanθ(ctiveprojection),(1)whereθistheanglebetweentheprincipalaxisandtheincomingray,risthedista-eyelensesinsteadareusuallydesignedtoobeyoneofthefollowingprojections:r=2ftan(θ/2)r=fθr=2fsin(θ/2)r=fsin(θ)aviorofthedifferentprojec-tionsisillustratedinFig.1(a)andthedifferencebetweenapinholecameraandafish-eyecameraisshowninFig.1(b).Thereallensesdonot,how-ever,eview-pointofautomaticcalibration,itwouldaoreweconsiderprojectionsinthegeneralformr(θ)=k1θ+k2θ3+k3θ5+k4θ7+k5θ9+...,(6)Fig.1.0011(graphicprojection),(stanceprojection),(lidangleprojection),(onalprojection).Zc(2)(3)(4)(5)r2P(i)(ii)(iii)(iv)(v)xπ2YcθXcfϕrθpp
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