Calibration of Rotating Line Spherical Camera based on Checkerboard Pattern on Multiple Planes and its Accuracy Assessment

This paper focuses on calibrating a rotating line spherical camera with a fisheye lens to provide a large vertical field of view for 360 panoramic imaging. With simplicity in mind, the proposed method uses a simple calibration object based on a small five-sided open box with a checkerboard pattern on each plane, a simple equidistance camera projection model with an additional camera parameter to characterise the vertical field of view, as well as a simple iterative computation process to estimate the required camera projection parameters based on noncoplanar corner points and a hemisphere calibration image. Also presented in the paper are some experimental results to demonstrate the achievable calibration accuracy, and to show the influence of the number of corners used and the number of planes employed on calibration accuracy.