Modelli matematici per la calibrazione geometrica di una camera iperemisferica per l'esplorazione planetaria

Hyperemispheric lenses belong to the ultra-wide field-of-view optical objectives. The lens considered was firstly introduced in 2018. Its field of view is 360° on the azimuth and 135° for the off-boresight angle. The calibration of the lens consists in computing its extrinsic and intrinsic parameters. This camera is particularly interesting for planetary exploration purposes, since its capability to acquire large field-of-view images avoiding moving parts. The calibration process modifies the toolbox proposed by Davide Scaramuzza, introducing a moving pinhole which better describes the behaviour of the lens. In order to test the model, images were acquired using the OMNICAM lens. The images contain black-and-white checkerboards, whose internal vertices are used as benchmarks to assess the accuracy of the nature of our model.