Evaluation of 3D Analysis Error Caused by SVP Approximation of Fisheye Lens

Abstract

We have been doing research about visual SLAM, 3D measurements and robot controls by using images obtained through fisheye lenses. Though fisheye lens is non-single viewpoint (NSVP), we established the 3D analysis methods based on single viewpoint (SVP) model. In this paper, we call such substitution SVP for NSVP as “SVP approximation” and evaluate 3D analysis errors caused by the SVP approximation in the case using two different types of fisheye lenses.