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Table 2 Intrinsic calibration parameters of the omnidirectional cameras

From: Calibration and rectification of vertically aligned binocular omnistereo vision systems

 

The upper camera

The lower camera

Main point position [u 0, v 0]/(pixels)

[673.59, 683.82]

[669.98, 676.12]

Equivalent focal length [γ 1, γ 2]

[410.44, 411.28]

[412.37, 414.78]

Mirror parameter ξ

0.83176

0.84279

Radial distortion [k 1, k 2]

[-0.08661, 0.00732]

[-0.09310, 0.00961]

Tangential distortion [k 3, k 4]

[-0.00131, 0.00279]

[0.00445, 0.00387]

Re-projection error

[0.63084, 0.59738]

[0.99979, 0.95924]