TY  - JOUR
PY  - 2021//
TI  - Calibration method of the monocular omnidirectional stereo camera
JO  - International journal of automotive engineering
A1  - Kawamata, Ryota
A1  - Betsui, Keiichi
A1  - Yamazaki, Kazuyoshi
A1  - Sakakibara, Rei
A1  - Shimano, Takeshi
SP  - 108
EP  - 115
VL  - 12
IS  - 3
N2  - 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>
LA  - en
SN  - 2185-0984
UR  - http://dx.doi.org/10.20485/jsaeijae.12.3_108
ID  - ref1
ER  -