Fisheye lens camera system calibration and localization error analysis

Author

Zhao, Shoubo ; Zhang, Baofeng ; Li, Li ; Cao, Zuoliang

Author_Institution

Sch. of Electr. Eng., Tianjin Univ. of Technol., Tianjin, China

Volume

4

fYear

2010

fDate

25-27 June 2010

Abstract

The paper presents a novel calibration method for fisheye lens. Five parameters, which fully reflect characters of fisheye lens, are proposed. Linear displacement platform is used to acquire precise sliding displacement between the target image and fisheye lens. Laser calibration method is designed to obtain the precise value of optical center. A convenient method, which is used to calculate the virtual focus of the fisheye lens, is proposed. To verify the result, indoor environment is built up to measure the localization error of omni-directional robot. Image including landmarks is acquired by fisheye lens and delivered to DSP (Digital Signal Processor) to further process. Error analysis to localization of omni-directional robot is showed in the conclusion.

Keywords

calibration; error analysis; photographic lenses; fisheye lens camera system calibration; laser calibration method; linear displacement platform; localization error analysis; sliding displacement; Calibration; Cameras; Design methodology; Digital signal processing; Error analysis; Focusing; Indoor environments; Lenses; Optical design; Robots; fisheye lens; laser calibration; localization; omnidirection vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Design and Applications (ICCDA), 2010 International Conference on

Conference_Location

Qinhuangdao

Print_ISBN

978-1-4244-7164-5

Electronic_ISBN

978-1-4244-7164-5

Type

conf

DOI

10.1109/ICCDA.2010.5540898

Filename

5540898