Fish-eye stereo based on the Taylor model

In this paper, a method of fish-eye stereo base on the Taylor model is proposed. The fish-eye stereo cameras are first calibrated based on the Taylor model. Then, the mapping between the pin-hole perspective view and the distorted view of fish-eye camera is deduced and the fish-eye images are expanded to the perspective images, the intrinsic parameters of ideal perspective camera are also acquired. The extrinsic parameters are calculated accurately using a planar pattern placed in the common field of views of two fish-eye cameras, and stereo rectification is proceed based on these extrinsic parameters. Experimental results show that the proposed method is simple, flexible and effective.