一种Kannala模型的鱼眼相机标定方法优化

(西安科技大学 测绘科学与技术学院,陕西 西安 710054)

相机标定; 鱼眼镜头; 分段多项式; 畸变校正; 三维重建

A fisheye camera calibration optimization method based on Kannala model
ZHANG Chun-sen,YAN Lu,YU Zhen

(College of Geomatics,Xi'an University of Science and Technology,Xi'an 710054,China)

calibration; fisheye lens; piecewise polynomial; distortion correction; 3D reconstruction

备注

针对鱼眼相机自身大视场、超短焦距等特点,使传统的基于小孔成像模型的相机标定算法无法实现其标定这一问题,提出了一种基于传统Kannala模型的鱼眼相机标定优化方法。首先研究了鱼眼相机的相机成像模型和畸变类型,并在传统Kannala模型基础上,建立分段多项式逼近模型实现原模型优化。其次根据传统Kannala模型和优化模型分别获得相机内参数和畸变系数,并通过内参数和畸变系数获得畸变校正图像。最后对得到的畸变校正图像利用反投影误差和多视图立体视觉三维重建分别定量和定性分析算法的优越性。相机检校反投影误差分析及三维重建可视化效果证明了所给优化模型相机标定的有效性。

In view of the large field of view and ultra-short focal length of the fisheye camera,the traditional camera calibration algorithmcannot achieve the calibration based on the small hole imaging model.This paper proposes a fisheye camera calibration optimization based on the traditional Kannala model.Firstly,a study has been made of the camera imaging model and distortion type of the fisheye camera,and on the basis of the traditional Kannala model,the piecewise polynomial approximation model is established to realize the original model optimization.Then,the internal parameters and distortion coefficients of the camera are obtained according to the traditional Kannala model and the optimization model,by which the distortion correction images are obtained.Finally,the advantages of this algorithm are quantitatively and qualitatively analyzed by using the back-projection error and the multi-view stereo vision 3D reconstruction of the distorted correction image.The results indicate that the camera parameters and distortion coefficients are obtained by calibration to correct the original image and to carry out the multi-view stereo vision 3D reconstruction,and the reverse projection error analysis and 3D reconstruction visualization of the camera check are proved to be effective in the calibration of the optimized model camera.