Fisheye lens camera system calibration and localization error analysis

The paper presents a novel calibration method for fisheye lens. Five parameters, which fully reflect characters of fisheye lens, are proposed. Linear displacement platform is used to acquire precise sliding displacement between the target image and fisheye lens. Laser calibration method is designed to obtain the precise value of optical center. A convenient method, which is used to calculate the virtual focus of the fisheye lens, is proposed. To verify the result, indoor environment is built up to measure the localization error of omni-directional robot. Image including landmarks is acquired by fisheye lens and delivered to DSP (Digital Signal Processor) to futher process. Error analysis to localization of omni-directional robot is showed in the conclusion.