A model relating the position of objects in the 3-D world to their pixel coordinates has been developed for a fixed-focal length fisheye lens camera. An associated automated method to calibrate model parameters has been developed for a daytime skyward-pointing camera. The position of the sun throughout the day is used as input to the calibration algorithm. The accuracy of the calibration was found to be on the same order as the accuracy of sun position detection in an image.
A model relating the position of objects in the 3-D world to their pixel coordinates has been...