EFFECTS OF HYPER HEMISPHERICAL FIELD IN BUNDLE ADJUSTMENT WITH FISHEYE IMAGES

Abstract. The large field of view and compact structure make fisheye lens cameras an attractive technology for mobile mapping systems visual navigation. Fisheye usually have a equal to or higher than 180°. Lenses that can capture light rays coming from angles larger 180° are known as hyper hemispherical lenses. Some the existing mathematical models be unsuitable those points beyond when performing photogrammetric processes based on these equations, underexploring full potential cameras. In this case, depending selected projection model, appearing in (HH) produce blunders bundle adjustment. Nevertheless, most available solutions camera calibration adjustment were implemented using equidistant model. Therefore, located often removed either during keypoint detection by applying mask remove entire HH images. paper, we assessed experimentally hypothesis original full-field image introduces blunders, deteriorating experiments performed with Ricoh Theta S 360° which was mounted backpack platform. set video mode, frames captured at rate 1 fps, while traversing urban street, generating 307 frames. Experiments performed, including removing results show errors dataset ones cropped