The fish-eye lens camera has a wide field of view that makes it effective for various applications and sensor systems. However, it incurs strong geometric distortion in the image due to compressive recording of the outer part of the image. Such distortion must be interpreted accurately through a self-calibration procedure. This paper proposes a new type of test-bed (the AV-type test-bed) that can effect a balanced distribution of image points and a low level of correlation between orientation parameters. The effectiveness of the proposed test-bed in the process of camera self-calibration was verified through the analysis of experimental results from both a simulation and real datasets. In the simulation experiments, the self-calibration procedures were performed using the proposed test-bed, four different projection models, and five different datasets. For all of the cases, the Root Mean Square residuals (RMS-residuals) of the experiments were lower than one-half pixel. The real experiments, meanwhile, were carried out using two different cameras and five different datasets. These results showed high levels of calibration accuracy (i.e., lower than the minimum value of RMS-residuals: 0.39 pixels). Based on the above analyses, we were able to verify the effectiveness of the proposed AV-type test-bed in the process of camera self-calibration.
Atmospheric Kelvin–Helmholtz billows captured by the MU radar, lidars and a fish-eye camera