关键词: 全景摄像机, 标定, 最小二乘法, HALCON

Abstract: The scene of prior knowledge in many cases is difficult to obtain accurately in current omnidirectional camera calibration algorithm. This paper presents a calibration algorithm of hyperboloid reflection omnidirectional camera based on HALCON. Firstly, algorithm captures the calibration pattern images in different positions by moving the camera or the calibration pattern；then extracts the coordinate of the calibration points after being preprocessed by HALCON；Finally, obtains its internal and external parameters through the expansion coefficient which are solved by the calibration points projection equation of least squares methods. This method, which doesn’t need a special device and equipment, or other priori knowledges of the scene, only needs to meet the requirements of the single viewpoint. The experimental result shows that it can achieve a high calibration precision, and accurate results are obtained in the process of soccer robot’s sideline distance measurement.

Key words: omnidirectional camera, calibration, least-squares method, HALCON