Author:
Nobuyuki Kita
Affiliation:
National Institute of Advanced Industrial Science and Technology, Japan
Keyword(s):
Fisheye Camera, Viewpoint Shift, Single Viewpoint, Error Evaluation, Self-localization, Stereo Calibration, Epipolar Constraint, Stereo Measurement.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Device Calibration, Characterization and Modeling
;
Image Formation and Preprocessing
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Stereo Vision and Structure from Motion
;
Tracking and Visual Navigation
Abstract:
We have been doing research about visual SLAM, 3D measurements and robot controls by using images obtained through fisheye lenses. Though fisheye lens is non-single viewpoint (NSVP), we established the 3D analysis methods based on single viewpoint (SVP) model. In this paper, we call such substitution SVP for NSVP as “SVP approximation” and evaluate 3D analysis errors caused by the SVP approximation in the case using two different types of fisheye lenses.