Improving the accuracy of a fisheye stereo camera with a disparity offset map

This paper deals with improving the accuracy of a fisheye stereo camera by correcting images using a disparity offset map, which is a map of disparity errors that are calculated from the disparity of the feature points obtained from an object with a known distance. By correcting the disparity errors and aligning the images, errors, such as those due to the insufficient calibration of the camera parameters, are reduced. A disparity offset map is constructed, and the accuracy of the distance measurement of a fisheye stereo camera using the disparity offset map is evaluated by experiments.