Simple Calibration Algorithm for High-Distortion Lens Camera
IEEE Transactions on Pattern Analysis and Machine Intelligence
Camera Calibration with Distortion Models and Accuracy Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Alternative models for fish-eye lenses
Pattern Recognition Letters
Mobile robot navigation and scene modeling using stereo fish-eye lens system
Machine Vision and Applications
Autonomous Mobile Robot Navigation Using Fish-Eye Lenses
ICSC '95 Proceedings of the Third International Computer Science Conference on Image Analysis Applications and Computer Graphics
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
Pixel-based representation of geometrical distortions in a camera/projector model
Proceedings of the 14th International Conference on Computer Systems and Technologies
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Sherical cameras are variable-resolution imaging systems and promising devices for autonomous navigation purposes, mainly because of their wide viewing angle which increases the capabilities of vision-based obstacle avoidance schemes. In addition, spherical lenses resemble the primate eye in their projective models and are biologically relevant. However, the calibration of spherical lenses for Computer Vision is a recent research topic and current procedures for pinhole camera calibration are inadequate when applied to spherical lenses. We present a novel method for spherical-lens camera calibration which models the lens radial and tangential distortions and determines the optical center and the angular deviations of the CCD sensor array within a unifid numerical procedure. Contrary to other methods, there is no need for special equipment such as low-power laser beams or non-standard numerical procedures for finding the optical center. Numerical experiments, convergence and robustness analyses are presented.