Measurement of Three-Dimensional Environment with a Fish-Eye Camera Based on Structure from Motion - Error Analysis
Kenji Terabayashi, Hisanori Mitsumoto, Toru Morita, Yohei Aragaki, Noriko Shimomura, Kazunori Umeda, CREST Program, Japan Science and Technology Agency (JST) · Journal of Robotics and Mechatronics · 2009
This paper proposes a method for measuring 3-dimensional (3D) environment and estimating camera movement with two fish-eye images. This method deals with large distortion of images from a fish-eye camera to calibrate internal and external camera parameters precisely by simultaneous estimation. In this paper, we analyze 3D measurement accuracy based on a theoretical model and evaluate it in practical analysis in experimental and real environments. These analyses show that the theoretical measurement error model works over a wide range of fish-eye views.