Estimation of Rotation of Camera Direction and Distance Between Two Camera Positions by Using Fisheye Lens System

Abstract

We propose a method of sensing the rotation and distance of a camera by using a fisheye lens system as a vision sensor. We estimate the rotation angle of a camera with a modified correlation method by clipping similar regions to avoid symmetry problems and suppressing highlight areas. In order to eliminate the rectification process of the distorted points of a fisheye lens image, we introduce an offline process using the normalized focal length, which does not require the image sensor size. We also formulate an equation for calculating the distance of a camera movement by matching the feature points of the test image with those of the reference image. Aug. 26, 2013, Accepted : Nov. 1, 2013 This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License(http://creativecommons.org/licenses/bync/3.0)which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited. Keywords