Patent ID: 7042508

Claim:
A method for presenting fisheye-camera images, which employs a plurality of known optical parameters comprising a principal point, a focal length constant and a projection function obtained from a parameterized fisheye camera in order to transform an original image shot by the parameterized fisheye camera into a transformed image, the method comprises: calculating a principal distance ρ between an imaged point and the principal point in the original image and defining an azimuthal distance β of the imaged point; deriving a zenithal distance α of the imaged point according to the principal distance ρ, the focal length constant and the projection function; normalizing the imaged point onto a small sphere as a normalized imaged point according to the zenithal distance α and the azimuthal distance β; and projecting the normalized imaged point onto a projection surface as a transformed imaged point by means of a map projection in cartography in order to form the transformed image.