International Journal of Computation and Applied Sciences IJOCAAS, Volume2, Issue 2, April 2017, ISSN: 2399-4509
Calibration of Convex Lenses with 2nd Order
Radial Distortion Model
Rihab K. Hamad Sinan M. Abdul-Sattar
Abstract Geometric camera calibration, additionally alluded
to as camera re sectioning, evaluating the parameters of a lens
and picture sensor of a picture. Camera parameters can be
utilized to correcting the distortion, and measuring the object size
in world unit, or knowing the camera position in the scene.
Zhangs calibration method is utilized, the method require a
chessboard planner with resolution 18301330 pixels to be
observed from different orientations and translations also using
2nd order radial distortion of the polynomial expression.
The result shows that lens of longer focal length generate low
distortion and it is the better lens as contain minimum value of
SSE equal to 3.96426 pixels.
Index Terms Lenses, Radial distortion, Calibration, Camera
parameter
I. INTRODUCTION
I n PC vision applications the calibration is a basic stride in
quantitative image examination.
In order to extract data from image it is important to know
how a point in the scene is anticipated onto the image sensor.
Basically the objective of calibration process is to distinguish
the camera model which precisely portrays how objects in the
3D world are anticipated onto the 2D picture sensor.
At the present many distortion models and trials are available
for evaluating camera lens distortion. Choosing the right
model and trials could provide accurate result. The simpler
methods which used by the computer vision community have
been developed due to the complexity of the evaluation trials
and advances in the use of computers for analytical analysis [1
- 6].
The most well-known calibration techniques take a few
pictures of a known object from various camera positions. The
projection of calibration objects components onto the image
sensor is approximated with the pinhole model [7-14].
The vast majority of these techniques necessitates either
earlier information of some camera parameters or is confined
to typical cameras with point of view projections. Thus these
techniques cannot be utilized on cameras without knowing the
parameters or on camera frameworks which are outfitted with
wide-angle or fish-eye [15-22].
Rihab Hamad, is today a student in the Optoelectronics
Engineering Depart., University of Technology, Iraq, E. mail:
rihabhamad92@gmail.com.
Sinan Abdul-Sattar, is an Asst. Prof., Electrical Engineering Depart.,
University of Technology, Iraq, E. mail: sinansma@yahoo.com.
Razi Al-Azawi, Asst. Prof., Optoelectronics Engineering Department,
University of Technology, Iraq, E. mail: 140009@uotechnology.edu.iq.
86
Razi J. Al-azawi
Cameras with wide-angle and fish-eye shows huge measure of
lens distortion which must be given exceptional thought.
Much research has been made in the region of distortion
calibration on wide-angle [23-28]. Huge numbers of these
techniques utilize calibration patterns [29-33], while other
nonmetric techniques rely on upon the attendance of certain
features in the scene [2, 17 & 34]. The limitation of the greater
part of these strategies is that they are interested in modifying
the distortion and leaving parameters (intrinsic and extrinsic)
to be evaluated with different strategies.
In this paper radial distortion of the polynomial expression is
depended with four convex lenses of different focal length.
II. METHODOLOGY
Zhangs calibration method shown in figure 1was utilized
and tested on four convex lenses of different focal length (190
mm, 150mm, 100mm and 70mm) to test the performance of
the method.
The lens was attached on a Sony G camera with 10x optical
zoom and 14.1 megapixel resolution with high-quality still
images and video recordings, face detection, 720p HD.
A chessboard planner with resolution 18301330 pixels, and
points corner 811=88. The method requires at least three
images, for each lens five images were captured at different
orientations and translations as shown in figure 2.
The accuracy of calibration is surveyed by comparing the
variance between measurement results and their position
information. The exactness of camera calibration decides the
estimation accuracy of the system. The quality of camera
calibration result directly affects the final measurement result
accuracy [34- 41].
III. RESULT AND DISSCUSION
The following polynomial expression that symbolizes the
radial distortion model was used in this paper:
rd = rf (r)= r (1+k 1 r2+k 2 r4 +.) (1)
Where k1, k2, k3 are the distortion coefficients and r is the
radial position of the image points. The calibration was done
for the four lenses using the first term of polynomial
expression, 2nd order radial distortion model.
International Journal of Computation and Applied Sciences IJOCAAS, Volume2, Issue 2, April 2017, ISSN: 2399-4509

The calibration results after optimization for the four lenses TABLE 1:
using 2nd order radial distortion model are shown in the
following tables. CALIBRATION PARAMETERS AFTER OPTIMIZATION USING 2 ND
ORDER DISTORTION MODEL FOR LENS OF FOCAL LENGTH 190 MM

Focal Length fc
[ 3507.79222 3447.24339 ] [ 48.01152 48.38464 ]
Start pixel

Principal point
Image [ 1966.30760 1883.61027 ] [ 70.06869 72.99608 ]
(uo,vo) pixel
Reading
[ 0.00000 ] [ 0.00000 ] => angle of pixel axes =
Skew alpha_c
90.00000 0.00000 degrees
Corner
Detection
Distortion [ 0.25901 -0.60141 0.04575 -0.03760 0.00000 ]
No coefficient kc
pixel [ 0.04598 0.15791 0.01111 0.00926 0.00000 ]
No. Of
Image= Pixel Error err [ 2.04594 1.91832 ]
5
Yes
Internal
TABLE 2
Parameters
Calculatio
n CALIBRATION PARAMETERS AFTER OPTIMIZATION USING 2 ND
ORDER DISTORTION MODEL FOR LENS OF FOCAL LENGTH 150 MM
Distortion Parameters Calculation Fixed
Model
Focal Length fc
External pixel [ 3773.34218 3763.05846 ] [ 143.65395 149.40848]
Parameters
Calculation Principal point
(uo,vo) pixel [ 2215.47057 1185.21174 ] [ 68.00235 111.80774]
Error
Analysis Skew alpha_c [ 0.00000 ] [ 0.00000 ] => angle of pixel axes =
90.00000 0.00000 degrees
Distortion
End coefficient kc [ 0.94332 -5.52121 -0.08595 -0.03365 0.00000 ]
pixel [ 0.20421 2.15988 0.03054 0.01804 0.00000 ]

Fig. 1: Flowchart of Zhang's algorithm Pixel Error err

[ 3.46324 4.13295 ]

TABLE 3

CALIBRATION PARAMETERS AFTER OPTIMIZATION USING 2 ND

ORDER DISTORTION MODEL FOR LENS OF FOCAL LENGTH 100 MM

Focal Length fc [ 6067.42485 6555.88202 ] [ 262.19706

pixel 395.00046]

Principal point [ 2268.84594 1137.26473 ] [ 30.05081

(uo,vo) pixel 167.48257]
[ 0.00000 ] [ 0.00000 ] => angle of pixel
Skew alpha_c
axes = 90.00000 0.00000 degrees
[ 1.82793 14.84391 -0.23218 0.02020
Distortion
0.00000 ]
coefficient kc
[ 0.50574 6.93524 0.06565 0.01382
pixel
0.00000 ]
Pixel Error err [1.94436 2.06566]
Fig. 2: Collection of images captured at focal lengths 70mm, 100mm,
150mm and 190 mm

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International Journal of Computation and Applied Sciences IJOCAAS, Volume2, Issue 2, April 2017, ISSN: 2399-4509

TABLE 4 generates low distortion while of low focal length represent

high distortion.
CALIBRATION PARAMETERS AFTER OPTIMIZATION USING 2 ND Also using of high order term of polynomial expression could
ORDER DISTORTION MODEL FOR LENS OF FOCAL LENGTH 70 MM
achieve high stability of the calibration process.

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