Geometric modelling and calibration of a spherical camera imaging system,The Photogrammetric Record

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Geometric modelling and calibration of a spherical camera imaging system
The Photogrammetric Record ( IF 2.1 ) Pub Date : 2020-06-29 , DOI: 10.1111/phor.12315
Derek D. Lichti ₁ , David Jarron ₁ , Wynand Tredoux ₁ , Mozhdeh Shahbazi ₁ , Robert Radovanovic ₂

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The Ladybug5 is an integrated, multi‐camera system that features a near‐spherical field of view. It is commonly deployed on mobile mapping systems to collect imagery for 3D reality capture. This paper describes an approach for the geometric modelling and self‐calibration of this system. The collinearity equations of the pinhole camera model are augmented with five radial lens distortion terms to correct the severe barrel distortion. Weighted relative orientation stability constraints are added to the self‐calibrating bundle adjustment solution to enforce the angular and positional stability between the Ladybug5’s six cameras. Centimetre‐level 3D reconstruction accuracy can be achieved, with image‐space precision and object‐space accuracy improved by 92% and 93%, respectively, relative to a two‐term lens distortion model. Sub‐pixel interior orientation stability and millimetre‐level relative orientation stability were also demonstrated over a 10‐month period.

中文翻译：

球形摄像机成像系统的几何建模和校准

Ladybug5是一个集成的多相机系统，具有近球形的视野。它通常部署在移动制图系统上，以收集图像以进行3D现实捕获。本文介绍了一种对该系统进行几何建模和自校准的方法。针孔相机模型的共线性方程式增加了五个径向镜头畸变项，以校正严重的镜筒畸变。加权相对方向稳定性约束条件已添加到自校准束调整解决方案中，以增强Ladybug5的六个摄像机之间的角度和位置稳定性。可以达到厘米级的3D重建精度，图像空间精度和对象空间精度分别提高了92 ％和93 ％相对于两个镜头畸变模型。在10个月的时间内也证明了亚像素内部取向稳定性和毫米级相对取向稳定性。

更新日期：2020-06-29

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