A calibrated-pinhole camera model for single viewpoint omnidirectional imaging systems

This paper presents a perspective imaging model that is able to eliminate image deformations caused by non-linear lens distortion and to detect the location of the optical center respectively. By using a calibration pattern it can detect the optical center by tracking the optical rays generated by 3D points that have the same representation on the image plane. Calibration pattern is also used in order to generate normalized virtual screens on which captured images are back projected, thus eliminating the deformations. Experimental results for single viewpoint omni-directional cameras demonstrate the effectiveness of our method.