Fisheye panoramic image synthesis processing method and device

The embodiment of the invention discloses a fisheye panoramic image synthesis processing method and device. The fisheye panoramic image synthesis processing method comprises the steps of acquiring first test fisheye images of a chessboard target, processing the first test fisheye images according to a Zhengyou Zhang calibration algorithm to acquire intrinsic parameters of a fisheye camera; acquiring second test fisheye images of an annular target, and acquiring extrinsic parameters of the fisheye camera according to an iterative closest point algorithm; acquiring fisheye images to be synthesized, acquiring a corresponding relation between pixel coordinates of the fisheye images to be synthesized and pixel coordinates of fisheye image nonstandard Thoby expanded image according to the intrinsic parameters and the extrinsic parameters; processing the fisheye images to be synthesized according to the corresponding relation to acquire a synthesized panoramic image. The corresponding relation between the pixel coor