camera framework
1.In the application of mini-micro-robot visual perception,there is a need for fish-eye lenses for capturing wide field of view for navigation.Though fish-eye lenses provide a wide field of view (～180°),they introduce significant distortion in images and the acquired images are quite warped,which makes conventional camera calibration algorithms no longer work well.This paper presents an accurate calibration framework for fish-eye lens (a high distortion lens) camera stereo vision system.The accurate calibration model is formulated with radial distortion,decentering distortion and thin prism distortion based on the fisheye deformation model.Using fish-eye and non-linear camera model,the author employs Levenberg-Marquardt method to realize precise non-linear calibration for wide-view-scene dense depth image recovery.
