JRM Vol.21 No.6 pp. 680-688
doi: 10.20965/jrm.2009.p0680


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****, and Kazunori Umeda*,**

*Dept. of Precision Mechanics, Faculty of Science and Engineering, Chuo University 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

**CREST Program, Japan Science and Technology Agency (JST)

***Toyota Motor Corporation
375-1 Imazato, Susono, Shizuoka 410-1104, Japan

****Nissan Motor Co.,Ltd. 1-1 Morinosatoaoyama, Atsugi-shi Kanagawa 243-0123, Japan

June 2, 2009
September 30, 2009
December 20, 2009
fish-eye, structure from motion, three dimensional measurement, error analysis
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.
Cite this article as:
K. Terabayashi, H. Mitsumoto, T. Morita, Y. Aragaki, N. Shimomura, and K. Umeda, “Measurement of Three-Dimensional Environment with a Fish-Eye Camera Based on Structure from Motion - Error Analysis,” J. Robot. Mechatron., Vol.21 No.6, pp. 680-688, 2009.
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