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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
J lit 
Figure 3. from the left: original image and image after 
calibration 
10.5 mm 
16 mm 
Parameter 
Ck 
±15 pm 
±17 pm 
focal lens 
Xo 
±0.7 pm 
±0.7 pm 
coordinates of the 
principle point 
y° 
±0.8 pm 
±0.7 pm 
ki 
±6.M0-6 
±5.8-10-6 
radial distortion 
k2 
±9.1-10-8 
±8.2-10-8 
k3 
±3.3-10-io 
±3.4-10-io 
Pi 
±1.2-10-6 
±1.4-10-6 
tangential distortion 
P2 
±2.9-10-7 
±3,4-10-7 
Ci 
±3.2-10-5 
±1.9-10-5 
affinity and shear 
C2 
±4.9-10-5 
±6.010-5 
Table 2. Error of calibration fisheye lens Nikon 10.5 mm and 
Nikon 16mm 
After initial corrections, we have to be measure the images 
again, and make a process of self-calibration as well. Distortion 
is eliminated almost completely. Nevertheless, we have to 
remember that, problems with self-calibration usually apply to 
parameters correlation. It is so, because bundle adjustment 
method (by self-calibration) in determination of interior 
orientation parameters usually causes correlation between 
adjusted parameters. Therefore, we should avoid of high 
correlation values, which indicates on linear dependences 
between particular parameters. Another important element is at 
least one known distance in imaging direction (for instance 
known reference coordinates) or one reference coordinates set 
(for instance oblique photograph of calibration test) (Luhmann, 
2006). 
4. CONCLUSION 
Proposed calibration method of fisheye lens is suitable not only 
for image corrections, but also for precise data acquisition. It is 
especially important, when using classical lens with normal 
focal length is unfounded. In a paper aspect of distortion 
elimination was more emphasized than classical approach of 
self-calibration. What has to be mentioned is the fact that in 
lesser-precise measurements, my method can be finished after 
distortion correction. 
REFERENCES 
B. Gdowski, Elementy geometrii rozniczkowej w zadaniach, 
OW PW Warsaw, Poland 1997 
M. Biemacki, Geometria rozniczkowa, PWN Warsaw, Poland 
1954 
T. Luhmann, S. Robson, and others ; Close Range 
Photogrammetry. Principles, methods and applications; Wiley 
Shannon, Ireland 2006