METHOD, DEVICE AND SYSTEM FOR CALIBRATING INTRINSIC PARAMETERS OF FISHEYE CAMERA, CALIBRATION DEVICE CONTROLLER AND CALIBRATION TOOL

摘要

A method for calibrating intrinsic parameters of a fisheye camera, comprising: determining target placing angles of various markers relative to a camera to be calibrated, so as to adjust the placing angles of the various markers relative to the camera to the target placing angles, a calibration tool consisting of the various markers covering all fields of view of the camera, and the various markers being uniformly distributed in a height direction and a width direction of the field of view of the camera; acquiring target images acquired by the camera in the current field of view, the target images comprising images of the various markers located at respective target positions, and the target position of each of the markers being a physical position matching the target placing angle of the marker; and calibrating the intrinsic parameters of the camera according to the pixel coordinates of designated points on the various markers in the target images and position information in a physical coordinate system of the markers.