CALIBRATION METHOD FOR OMNIDIRECTIONAL CAMERA

摘要

A calibration method for an omnidirectional camera is provided to estimate an external variable by using an inliner set for a corresponding point to determine the place of a camera. A single variable nonlinear camera projection model of a camera is estimated by using an epipolar curve of a corresponding point between the images of omnidirectional camera(S10). The camera position having the minimum distance error between an inliner set having the standard deviation of minimal point density and the epipolar curve is determined(S20). In the estimation of the single variable nonlinear camera projection model of a camera, a single variable nonlinear camera projection model of a camera is induced by selecting a ray function depending on the configuration of the camera lens. The epipolar curve of the corresponding point is formed based on the position moving information of the predetermined setup camera, and the single variable nonlinear camera projection model is estimated by obtaining a single variable.