Measurement of Three-Dimensional Environment with a Fish-Eye Camera Based on Structure from Motion - Error Analysis

被引：4

作者：

Terabayashi, Kenji ^{[1
,2
]}

Mitsumoto, Hisanori

Morita, Toru ^{[1
,3
]}

Aragaki, Yohei ^{[4
]}

Shimomura, Noriko ^{[4
]}

Umeda, Kazunori ^{[1
,2
]}

机构：

[1] Chuo Univ, Fac Sci & Engn, Dept Precis Mech, Bunkyo Ku, 1-13-27 Kasuga, Tokyo 1128551, Japan

[2] Japan Sci & Technol Agcy JST, CREST Program, Kawaguchi, Saitama, Japan

[3] Toyota Motor Co Ltd, Susono, Shizuoka 4101104, Japan

[4] Nissan Motor Co Ltd, Atsugi, Kanagawa 2430123, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2009年 / 21卷 / 06期

关键词：

fish-eye; structure from motion; three dimensional; measurement; error analysis;

D O I：

10.20965/jrm.2009.p0680

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：680 / 688

页数：9

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