Fisheye-Calib-Adapter: An Easy Tool for Fisheye Camera Model Conversion

TL;DR

This paper presents a user-friendly, fast, and accurate conversion tool for various fisheye camera models, enabling seamless adaptation across models without recalibration, benefiting applications like SLAM.

Contribution

It introduces an open-source conversion tool that bridges different fisheye camera models, simplifying and accelerating model adaptation in research and practical applications.

Findings

The tool performs accurate conversions between models.

Converted models work effectively in SLAM applications.

The system is faster and easier to use than existing solutions.

Abstract

The increasing necessity for fisheye cameras in fields such as robotics and autonomous driving has led to the proposal of various fisheye camera models. While the evolution of camera models has facilitated the development of diverse systems in the field, the lack of adaptation between different fisheye camera models means that recalibration is always necessary, which is cumbersome. This paper introduces a conversion tool for various previously proposed fisheye camera models. It is user-friendly, simple, yet extremely fast and accurate, offering conversion capabilities for a broader range of models compared to existing tools. We have verified that models converted using our system perform correctly in applications such as SLAM. By utilizing our system, researchers can obtain output parameters directly from input parameters without the need for an image set and any recalibration processes, thus serving as a bridge across different fisheye camera models in various research fields. We provide our system as an open source tool available at: https://github.com/eowjd0512/fisheye-calib-adapter