公开(公告)号：US20190236805A1

公开(公告)日：2019-08-01

申请号：US16256265

申请日：2019-01-24

申请人： Shanghai Xiaoyi Technology Co., Ltd.

发明人： Junzhou MOU ,  Zhenghua LIU

IPC分类号： G06T7/80 ,  G06T3/00 ,  G06K9/62 ,  G06K9/32

CPC分类号： G06T7/80 ,  G06K9/3216 ,  G06K9/6211 ,  G06T3/0018

摘要： A dual fisheye lens calibration method includes: generating a first pair of fisheye images of two calibration chessboards located directly in front of two fisheye lenses and one or more random feature point calibration boards located in overlapping regions of the two fisheye lenses; adjusting positions of optical centers of the two fisheye lenses based on differences between projection coordinates of corner points on fisheye images and coordinates of images of the corner points on the first pair of fisheye images, to obtain optimal optical centers; generating a second pair of fisheye images of the calibration chessboards and random feature point calibration boards, based on the optimal optical points; generating a panoramic image based on the second pair of fisheye images; and adjusting distortion polynomial coefficients and extrinsic parameters of the two fisheye lenses based on a difference between panoramic-image coordinates of a matching feature point pair.