High Precision Calibration of Fisheye Camera with Single Image under Multiple Geometric Constraints

Jun Wu; Lingrong Wang; Mingyi Huang; Zhiyong Peng

doi:10.3788/AOS201838.1115001

Acta Optica Sinica, Volume. 38, Issue 11, 1115001(2018)

High Precision Calibration of Fisheye Camera with Single Image under Multiple Geometric Constraints

Jun Wu^*, Lingrong Wang, Mingyi Huang, and Zhiyong Peng

College of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, Guangxi 541004, China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(19)

Fig. 1. Schematic of fisheye camera imaging

Download full size

Fig. 2. Orthogonal projection model

Download full size

Fig. 3. Schematic of scanning bounding box of fisheye image contours. (a) Field of view is 180°; (b) field of view is less than 180°

Download full size

Fig. 4. Schematic of vanishing points of parallel spatial lines under spherical perspective projection

Download full size

Fig. 5. Schematic of two types of fisheye cameras to calibrate. (a) TypeⅠ; (b) typeⅡ

Download full size

Fig. 6. Images by fisheye camera TypeⅠ. (a) Checkerboard calibration image; (b) outdoor scene image

Download full size

Fig. 7. Images by fisheye camera type Ⅱ. (a) Checkerboard calibration image; (b) indoor scene image

Download full size

Fig. 8. Schematic of contour bounding box extraction and ellipse fitting of fisheye image. (a) Contour bounding box; (b) fitting ellipses

Download full size

Fig. 9. Error distributions of re-projection. (a) Camera typeⅠ; (b) camera typeⅡ

Download full size

Fig. 10. Schematic of test images for camera typeⅠand cubic box expansion. (a)-(d) Edge test images; (e)-(h) cubic box expansion of test images

Download full size

Fig. 11. Schematic of test images for camera typeⅡand cubic box expansion. (a)(b) Edge test images; (c)(d) cubic box expansion of test images

Download full size

Fig. 12. Cubic box expansion comparison of fisheye images for indoor and outdoor scenes. (a)(b) Results by toolbox; (c)(d) results by proposed method

Download full size

Table 1. Initial parameters of fisheye cameras to calibrate

View table

Table 1. Initial parameters of fisheye cameras to calibrate

Camera	Internal parameters			External parameters
Camera	(f_x, f_y) /pixel	(u₀, v₀) /pixel	(k₁,k₂)	(φ, ω, κ) /rad	(t_x, t_y, t_z) /mm
TypeⅠ	(589.24,589.24)	(639.68,640.21)	(0,0)	(3.4483,-0.0916,1.589)	(-71.33,-85.38,79.08)
TypeⅡ	(637.56,637.56)	(628.36,489.51)	(0,0)	(3.4876,-0.0432,1.7237)	(-80.57,-89.76,131.25)

Table 2. Globally optimized parameters of fisheye cameras to calibrate

View table

Table 2. Globally optimized parameters of fisheye cameras to calibrate

Camera	Internal parameters				External parameters		RMSE /pixel
Camera	(f_x,f_y) /pixel		(u₀,v₀) /pixel	(k₁,k₂)		(φ,ω,κ) /rad	(t_x,t_y,t_z) /mm
TypeⅠ	(558.76,582.52)	(639.68,640.21)	(2.769×10^-8,-1.725×10^-13)		(3.1617,-0.0502,1.5716)	(-86.11,-89.26,106.72)	0.3032
TypeⅡ	(472.47,626.52)	(628.36,489.51)	(1.950×10^-8,-2.201×10^-13)		(3.2583, -0.035,1.5872)	(-106.84,-107.0,174.37)	0.1472

Table 3. Calibration parameters and image correction line fitting RMSE of camera typeⅠ
View table
Table 3. Calibration parameters and image correction line fitting RMSE of camera typeⅠ
Corrected image Middle Left Right Above Below Average
Error of line fitting 0.40 0.48 0.50 0.67 0.60 0.53

Table 4. Calibration parameters and image correction line fitting RMSE of camera typeⅡ
View table
Table 4. Calibration parameters and image correction line fitting RMSE of camera typeⅡ
Corrected image Middle Left Right Average
Line fitting error 0.17 0.37 0.28 0.27

Table 5. Calibration parameters in online calibration toolbox and their re-projection RMSE

View table

Table 5. Calibration parameters in online calibration toolbox and their re-projection RMSE

Camera	(f_x, f_y) /pixel	(u₀, v₀) /pixel	(k₁, k₂, k₃, k₄)	RMSE /pixel
Model 1	(547.79, 571.06)	(640.03,641.87)	(-0.18741,0.06478,-0.02346,0.00327)	0.2978
Model 2	(340.96, 452.53)	(628.72,489.28)	(0.10739,-0.17992,0.2101,-0.09241)	0.2621

Table 6. Parameters in calibration toolbox for camera typeⅠand image correction line fitting RMSE
View table
Table 6. Parameters in calibration toolbox for camera typeⅠand image correction line fitting RMSE
Corrected image Middle Left Right Above Below Average
Line fitting error 0.20 1.36 0.74 1.20 1.16 0.93

Table 7. Parameters in calibration toolbox for camera typeⅡ and image correction line fitting RMSE
View table
Table 7. Parameters in calibration toolbox for camera typeⅡ and image correction line fitting RMSE
Corrected image Middle Left Right Average
Line fitting error 0.65 2.96 3.65 2.31

Tools

Get Citation

Copy Citation Text

Jun Wu, Lingrong Wang, Mingyi Huang, Zhiyong Peng. High Precision Calibration of Fisheye Camera with Single Image under Multiple Geometric Constraints[J]. Acta Optica Sinica, 2018, 38(11): 1115001

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites

Paper Information

Category: Machine Vision

Received: Apr. 23, 2018

Accepted: May. 30, 2018

Published Online: May. 9, 2019

The Author Email:

DOI:10.3788/AOS201838.1115001

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Initial parameters of fisheye cameras to calibrate

Table 1. Initial parameters of fisheye cameras to calibrate

Table 2. Globally optimized parameters of fisheye cameras to calibrate

Table 2. Globally optimized parameters of fisheye cameras to calibrate

Table 3. Calibration parameters and image correction line fitting RMSE of camera typeⅠ

Table 3. Calibration parameters and image correction line fitting RMSE of camera typeⅠ

Table 4. Calibration parameters and image correction line fitting RMSE of camera typeⅡ

Table 4. Calibration parameters and image correction line fitting RMSE of camera typeⅡ

Table 5. Calibration parameters in online calibration toolbox and their re-projection RMSE

Table 5. Calibration parameters in online calibration toolbox and their re-projection RMSE

Table 6. Parameters in calibration toolbox for camera typeⅠand image correction line fitting RMSE

Table 6. Parameters in calibration toolbox for camera typeⅠand image correction line fitting RMSE

Table 7. Parameters in calibration toolbox for camera typeⅡ and image correction line fitting RMSE

Table 7. Parameters in calibration toolbox for camera typeⅡ and image correction line fitting RMSE