中文摘要：

鱼眼镜头成像系统在微小型机器人视觉导航和近距离大视场物体识别与定位中有着广泛的应用。由于鱼眼镜头的结构的特点，故使得这种光学系统一般存在很大的入射光瞳球差。现提出了应用逆向光线追迹计算求解鱼眼镜头入射光瞳球差的精确方法。并且通过一个鱼眼镜头的设计实例，得到入射光瞳球差的数值分布结果，然后应用多项式拟合求出其解析表达式。

英文摘要：

The fish-eye lens imaging system has wide applications in micro-robot visual perception and wide field of view for short distance object recognition and location. Because of its structural features, there always exists great entrance-pupils spherical aberration in the optical system. This paper presents an exact method to calculate the entrance-pupils spherical aberration of fish-eye lens with reverse ray tracing. An example of fish-eye lens system was given and its spherical aberration was calculated by the method. Then a polynomial expression was used to fit the resultant spherical aberration.