Validation of geometric models for fisheye lenses

A printed and bound version is available at a special discount price of US35 from Now Publishers. This can be obtained by entering the promotional code CGV006023 on https://www.nowpublishers.com/bookorder.aspx?doi=0600000023&product=CGVInternational audienceThis survey is mainly motivated by the increased availability and use of panoramic image acquisition devices, in computer vision and various of its applications. Different technologies and different computational models thereof exist and algorithms and theoretical studies for geometric computer vision ("structure-from-motion") are often re-developed without highlighting common underlying principles. One of the goals of this survey is to give an overview of image acquisition methods used in computer vision and especially, of the vast number of camera models that have been proposed and investigated over the years, where we try to point out similarities between different models. Results on epipolar and multi-view geometry for different camera models are reviewed as well as various calibration and self-calibration approaches, with an emphasis on non-perspective cameras. We finally describe what we consider are fundamental building blocks for geometric computer vision or structure-from-motion: epipolar geometry, pose and motion estimation, 3D scene modeling, and bundle adjustment. The main goal here is to highlight the main principles of these, which are independent of specific camera models

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“…An experimental evaluation of some of the above fisheye models for a particular camera was performed by Schneider et al [439].…”

Section: Fisheye Modelsmentioning

confidence: 99%

Camera Models and Fundamental Concepts Used in Geometric Computer Vision

Sturm

2010

FNT in Computer Graphics and Vision

157

122

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“…The rigorous camera model is therefore a transformation from a world object P to the corresponding projection point u c on the fish-eye image (the solid line). For convenience, the fish-eye image coordinates are usually firstly transformed to a virtual plane camera coordinates by choosing a fisheye camera model [30] and a calibration model [31]; we denote the transformation as K c . Then, according to the rotation R c and translation T c between a fisheye camera and the virtual panoramic camera, Equation (5) describes a fisheye image point u c with a coordinate x c projected to the corresponding panoramic camera point u with a coordinate X. K c , R c , T c are typically fixed values with pre-calibration, and k is the scale factor between the ideal plane and the panoramic sphere, which can be calculated by combining Equations (2) and (5).…”

Section: Rigorous Panoramic Camera Modelmentioning

confidence: 99%

Template Matching for Wide-Baseline Panoramic Images from a Vehicle-Borne Multi-Camera Rig

Hong³

et al. 2018

IJGI

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Automatic detection and locating of objects such as poles, traffic signs, and building corners in street scenes captured from a mobile mapping system has many applications. Template matching is a technique that could automatically recognise the counterparts or correspondents of an object from multi-view images. In this study, we aim at finding correspondents of an object from wide baseline panoramic images with large geometric deformations from sphere projection and significant systematic errors from multi-camera rig geometry. Firstly, we deduce the camera model and epipolar model of a multi-camera rig system. Then, epipolar errors are analysed to determine the search area for pixelwise matching. A low-cost laser scanner is optionally used to constrain the depth of an object. Lastly, several classic feature descriptors are introduced to template matching and evaluated on the multi-view panoramic image dataset. We propose a template matching method combining a fast variation of a scale-invariant feature transform (SIFT) descriptor. Our method experimentally achieved the best performance in terms of accuracy and efficiency comparing to other feature descriptors and the most recent robust template matching methods.

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“…In general, fisheye lenses follow the Equi-distant and Equi-solid-angle projections (Abraham and Förstner, 2005;Schneider et al, 2009), however Bower-Samyang 8mm lens, used in this work, was built following a quasi-Stereo-graphic projection (Charles, 2009). (Charles, 2009) presents a discussion on the technical features of Bower-Samyang fisheye lens camera.…”

Section: Calibration Of Fisheye Camerasmentioning

confidence: 99%

“…(Abraham andFörstner, 2005) presented rigorous mathematical models for the calibration of a stereo system composed of two fisheye lens cameras and for the epipolar rectification of the images acquired by this dual system. (Schneider et al, 2009) presented the calibration of a Kodak DSC 14 Pro with Nikkor 8 mm fisheye lens, which follows the Equi-distant projection. The rigorous mathematical models based on Stereo-graphic, Equi-distant, Orthogonal and Equisolid-angle projections were used in combination with symmetric radial, decentering and affinity distortion models.…”

Section: Introductionmentioning

confidence: 99%

Experimental Assessment of Techniques for Fisheye Camera Calibration

2015

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Abstract:Fisheye lens cameras enable to increase the Field of View (FOV), and consequently they have been largely used in several applications like robotics. The use of this type of cameras in closerange Photogrammetry for high accuracy applications, requires rigorous calibration. The main aim of this work is to present the calibration results of a Fuji Finepix S3PRO camera with Samyang 8mm fisheye lens using rigorous mathematical models. Mathematical models based on Perspective, Stereo-graphic, Equi-distant, Orthogonal and Equi-solid-angle projections were implemented and used in the experiments. The fisheye lenses are generally designed following one of the last four models, and Bower-Samyang 8mm lens is based on Stereo-graphic projection. These models were used in combination with symmetric radial, decentering and affinity distortion models. Experiments were performed to verify which set of IOPs (Interior Orientation Parameters) presented better results to describe the camera inner geometry. Collinearity mathematical model, which is based on perspective projection, presented the less accurate results, which was expected because fisheye lenses are not designed following the perspective projection. Stereo-graphic, Equi-distant, Orthogonal and Equi-solid-angle projections presented similar results even considering that Bower-Samyang fisheye lens was built based on Stereo-graphic projection. The experimental results also demonstrated a small correlation between IOPs and EOPs (Exterior Orientation Parameters) for Bower-Samyang lens.Keywords: Photogrammetry; Camera calibration; Digital cameras; Omnidirectional Systems. Resumo:As câmaras com objetiva olho de peixe permitem aumentar o campo de visada da câmara, e consequentemente é amplamente empregada na robótica. O uso desse tipo de câmara em aplicações de alta acurácia na Fotogrametria a curta distância, exige a sua calibração. O objetivo principal é calibrar a câmara Fuji Finepix S3pro com a lente olho de peixe Bower-Samyang 8mm usando modelos matemático rigorosos. Modelos matemáticos baseados nas projeções perspectiva, estereográfica, equidistante, ortogonal e do ângulo equi-sólido foram implementados e usados nos experimentos. As lentes olho de peixe são geralmente fabricadas seguindo um dos quatro últimos modelos, e a lente Bower-Samyang 8 mm é baseada na projeção estereográfica. Os modelos matemáticos foram usados em conjunto com os modelos de distorções radial simétrica, descentrada e de afinidade. Experimentos foram realizados para verificar o conjunto de parâmetros de orientação interior adequado para descrever a geometria interna da câmara. O modelo matemático de colinearidade, baseado na projeção perspectiva, apresentou o resultado menos acurado. As lentes olho de peixe não são fabricadas conforme a projeção perspectiva, o que justifica esse resultado. Os resultados obtidos com as projeções estereográfica, equidistante, ortogonal e do ângulo equi-sólido não apresentam diferenças significativas, embora a lente olho de peixe Bower-Samyang tenha sido constr...

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Validation of geometric models for fisheye lenses

Cited by 155 publications

References 12 publications

Camera Models and Fundamental Concepts Used in Geometric Computer Vision

Camera Models and Fundamental Concepts Used in Geometric Computer Vision

Template Matching for Wide-Baseline Panoramic Images from a Vehicle-Borne Multi-Camera Rig

Experimental Assessment of Techniques for Fisheye Camera Calibration

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