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
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.
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