Abstract: This paper constructs a relatively unified calibration model for the omnidirectional vision subsystem of the multi-eyes mobile robotics.The establishment of the model is based on the principal of polynomial approximation.The scene of the planar pattern is captured shown at different positions around the vision system，without priori knowledge of the vision system model or the rout of mobile pattern，and the calibration of the vision system is completed.To test the unified model，one omnidirectional with a hyperbolic mirror is calibrated，and the result is very good.

Key words: omnidirectional vision, calibration, mathematics model

摘要： 针对应用于多目移动机器人的单视点全景视觉子系统建立了相对统一的标定数学模型，该模型建立在多项式有限逼近的基础之上。将同一平面标定板置于视觉系统四周不同位置并获取图片，无需了解标定板的移动轨迹或者视觉系统模型，即可实现全景视觉系统的标定。为了测试该模型的可行性，对具有双曲面反射镜的反射折射全景视觉系统进行了标定，标定的结果满足多目移动机器人的设计要求。

关键词: 全景视觉, 标定, 数学模型