An Easy Camera Pose Method from Fisheye Image

We present an easy technique to estimate fisheye camera pose using two vertical lines and one horizontal line on a space plane under a single fisheye view in this paper. If fisheye camera is calibrated, fisheye image points should be mapped on the unit sphere, we may first fit two vertical projected planes and one horizontal projected plane from fisheye image points of two vertical lines and one horizontal line. Secondly, two quadric equations were established by intersection between the projected plane and the space plane. The normal vector of the space plane is estimated by two quadric equations. Last, a true solution may be selected from a pair of real solutions. Two advantages of this method are: (a) only image points on the line image of space lines are used and no space point coordinate is needed. (b) conic fitting is not applied and the fisheye camera is not particular motion. Experiments with simulated data and real image demonstrate the efficiency of the proposed method.