@article{ref1,
title="Calibration method of the monocular omnidirectional stereo camera",
journal="International journal of automotive engineering",
year="2021",
author="Kawamata, Ryota and Betsui, Keiichi and Yamazaki, Kazuyoshi and Sakakibara, Rei and Shimano, Takeshi",
volume="12",
number="3",
pages="108-115",
abstract="Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a lens and sensor, which makes this camera compact and cost efficient. We establish a new calibration method for this camera considering higher-order radial distortion, detailed tangential distortion, an image sensor tilt, and a lens-mirror offset. Our method reduces the calibration error by 6.0 and 4.3 times for the upper- and lower-view images, respectively. The random error of the distance measurement is 4.9% and the systematic error is 5.7% up to objects 14 meters apart, which is improved almost nine times compared to the conventional method. The remaining distance errors is due to a degraded optical resolution of the prototype, which we plan to make further improvements as future work.<p /> <p>Language: en</p>",
language="en",
issn="2185-0984",
doi="10.20485/jsaeijae.12.3_108",
url="http://dx.doi.org/10.20485/jsaeijae.12.3_108"
}