Intrinsic parameter calibration procedure for a (high-distortion) fish-eye lens camera with distortion model and accuracy estimation

This paper presents a calibration procedure for a fish-eye lens (a high-distortion lens) mounted on a CCD TV camera. The method is designed to account for the differences in images acquired via a distortion-free lens camera setup and the images obtained by a fish-eye lens camera. The calibration procedure essentially defines a mapping between points in the world coordinate system and their corresponding point locations in the image plane. This step is important for applications in computer vision which involve quantitative measurements. The objective of this mapping is to estimate the internal parameters of the camera, including the effective focal length, one-pixel width on the image plane, image distortion center, and distortion coefficients. The number of parameters to be calibrated is reduced by using a calibration pattern with equally spaced dots and assuming a pin-hole model camera behavior for the image center, thus assuming negligible distortion at the image distortion center. Our method employs a non-linear transformation between points in the world coordinate system and their corresponding location on the image plane. A Lagrangian minimization method is used to determine the coefficients of the transformation. The validity and effectiveness of our calibration and distortion correction procedure are confirmed by application of this procedure on real images. Copyright (C) 1996 Pattern Recognition Society.