Calibración de una cámara fisheye comercial con el modelo unificado para la observación de objetos múltiples

In this paper we propose a wide-angle lens system (with a field of view of 360° × 183°) for the observation of multiple objects in the scene. For the development of this system: A) We calibrate a commercial fisheye camera and show that the imaging process can be adjusted with the Unified Imaging Model. B) We use this model to correct the distortions caused by the fisheye lens and simulate images acquired by a perspective camera in any direction of the field of view, which we named ‘virtual PTZ camera’. C) We validate the proposed method through simulations. D) To exemplify the functioning of the system with real images: we use an algorithm that detects moving regions in the panoramic image, points the field of view in the centroid of each region and corrects the distortions of the acquired image.