Fisheye camera rectification and calibration method for expanding pin-hole imaging model

Abstract

The invention concretely relates to a fisheye camera rectification and calibration method for expanding a pin-hole imaging model, and belongs to the field of computer vision and computer graphics. The method includes the following steps: using a camera the window of which is opened, and shooting chessboard template graphs from different angles; extracting pixel coordinates of characteristic points in the template graphs through corner detection, and establishing a relation between space points and image points through a pin-hole imaging model; calculating a parameter through an LM algorithm after all the characteristic points are extracted, and achieving fisheye camera rectification and calibration based on the pin-hole imaging model; and utilizing a straight line fitting and natural point interpolation algorithm to expand the field range for pin-hole model rectification. Compared with the prior art, the fisheye camera rectification and calibration method has the beneficial effects that: calibration is easy, and an effect enabling people to conveniently view with the eyes is achieved; the application range of the pin-hole imaging model is expanded, and the field range for a single rectification process reaches 130 degrees; and through multiple times of expansion, a rectification result of a whole fisheye camera imaging area can be obtained.

Description

technical field [0001] The invention specifically relates to a fisheye camera correction and calibration method for expanding a pinhole imaging model, and belongs to the fields of computer vision and computer graphics. Background technique [0002] In the fields of machine vision, panoramic photography, security monitoring, and virtual reality, fisheye cameras are being used more and more widely due to their ultra-wide field of view (generally reaching or even exceeding 180°). However, fisheye cameras suffer from severe barrel distortion, which limits their use. Such as figure 1 As shown, this is an actual scene image taken with a fisheye camera, which covers the half-space scene. However, due to the existence of distortion, the imaging of the straight line in the space is no longer a straight line. [0003] Up to now, there have been many researches on fisheye camera correction and calibration, which can be mainly divided into two types: hardware-based measurement and ima...

AI Technical Summary

Problems solved by technology

However, since the applicable field of view of the pinhole imaging model is much smaller than 180° (generally applicable to a field of view of about 90°), and the fisheye camera has an ultra-wide field of view (generally reaching or exceeding 180°), it cannot Simple use of pinhole imaging model for fisheye camera correction and calibration

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