Optical EngineeringStudy of the performance of stereoscopic panomorph systems calibrated with traditional pinhole model
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With their large field of view, anamorphosis, and areas of enhanced magnification, panomorph lenses are an interesting choice for navigation systems for mobile robotics in which knowledge of the surroundings is mandatory. However, panomorph lenses special characteristics can be challenging during the calibration process. This study focuses on the calibration of two panomorph stereoscopic systems with a model and technique developed for narrow-angle lenses, the “Camera Calibration Toolbox for MATLAB.” In order to assess the performance of the systems, the mean reprojection error (MRE) related to the calibration and the reconstruction error of control points of an object of interest at various locations in the field of view are used. The calibrations were successful and exhibit MREs of less than one pixel in all cases. However, some poorly reconstructed control points illustrate that an acceptable MRE guarantees neither the quality of 3-D reconstruction nor its uniformity in the field of view. In addition, the nonuniformity in the 3-D reconstruction quality indicates that panomorph lenses require a more accurate estimation of the principal point (center of distortion) coordinates to improve the calibration and therefore the 3-D reconstruction.