Estimation of omnidirectional camera model from epipolar geometry

摘要: We generalize the method of simultaneous linear estimation multiple view geometry and lens distortion, introduced by Fitzgibbon at CVPR 2001, to an omnidirectional (angle larger than 180/spl deg/) camera. The perspective camera is replaced a with spherical retina nonlinear mapping sphere into image plane. Unlike previous distortion-based models, new model capable describe angle deg/ cost introducing only one extra parameter. A suitable linearization epipolar constraint developed in order arrive quadratic eigenvalue problem for which efficient algorithms are known. calibration done from automatically established correspondences only. Besides rigidity, no assumptions about scene made (e.g. presence object). demonstrate experiments Nikon FC-E8 fish-eye converter COOLPIX digital In practical situations, proposed allows incorporate RANSAC - robust technique.