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An Enhanced Unified Camera Model

Abstract : This paper describes a novel projection model based on the so-called unified projection model. The new model applies to catadioptric systems and wide-angle fish-eye cameras, it does not require additional mapping to model distortions, and it takes just two projection parameters more than a simple pinhole model to represent radial distortion (one parameter more than the unified model). Here we provide a study of different mathematical aspects of the model, its application limits, and explicit closed-form inversion. The latter allows to apply all the notions of epipolar geometry with no difficulties. Also we introduce a concept of projection surface, which is a useful notion to study and compare different projection models with radial distortion. Using developed software, several different lenses were calibrated using the proposed model, and in all cases sub-pixel precision was achieved.
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Contributor : Bogdan Khomutenko <>
Submitted on : Saturday, March 3, 2018 - 4:34:37 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:32 PM
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  • HAL Id : hal-01722264, version 1


Bogdan Khomutenko, Gaëtan Garcia, Philippe Martinet. An Enhanced Unified Camera Model. IEEE Robotics and Automation Letters, IEEE 2015. ⟨hal-01722264⟩



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