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Projection Model and Calibration Method for Multi-camera Systems with Ultra-wide Field-of-view Fisheye Lenses
http://doi.org/10.5626/JOK.2024.51.11.1005
Fisheye lenses with a wide field-of-view (FoV) are commonly utilized as sensors for mobile platforms such as cars and robots due to their capacity to recognize a large area at once. Algorithms that utilize multiple fisheye cameras to estimate distances and platform movements in all directions of 360 degrees have been developed and are presently deployed as robot sensors and for 3D modeling. In this paper, we present a novel projection model for fisheye lenses with an ultra-wide FoV exceeding 220 degrees. Next, we introduce a multi-camera system calibration method that can efficiently and accurately estimate the calibration of intrinsic and extrinsic parameters for a multi-camera system equipped with these lenses. The proposed methodology has successfully calibrated a range of systems, spanning from compact helmet-mounted capture devices to larger car-mounted systems. The experimental results show that the proposed method achieves sub-pixel calibration accuracy.
Height and Texture Modeling of Road Surfaces for Camera-Based HDMap Construction
http://doi.org/10.5626/JOK.2024.51.9.835
With increasing demand for construction and updating of HD maps for autonomous vehicles, multi-camera systems are being used as cost-effective sensors for Mobile Mapping System (MMS). Stereo matching among multi-view images, image feature point matching, and visual localization are utilized for such camera-based 3D map reconstruction. In this paper, we proposed a methodology for estimating height of road surfaces and texture registration utilizing hexgrid model, keyframe poses and 3D point clouds based on multi-view images. The proposed methodology could reconstruct high-density and high-accuracy 3D point cloud of road surfaces base on a multi-camera system mounted on the upper part of a vehicle. Our experimental results showed that the proposed method created a precise road model with a minimum point spacing of 0.025 m on a MMS equipped with ultra-wide angle fisheye cameras and GPS.
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