Dual-eye three-dimensional visual measurement method and system fused with IMU calibration

Abstract

The invention belongs to the field of photoelectric detection, and particularly relates to a dual-eye three-dimensional visual measurement method and system fused with IMU for calibration. The methodcomprises the steps of fixedly and respectively connecting two IMUs with cameras, calculating a space conversion relation between the cameras and the IMUs, and determining a rotation matrix between the two cameras according to eulerian angles of (z-y-x) sequences of the IMUs and by a yaw angle differential method proposed by the invention; and determining a translation vector according to an epipolar geometrical principle and the rotation matrix, and optimizing internal parameters of the camera, the rotation matrix and the translation vector by a sparse light beam compensation method to obtainan optimized camera parameter. By the method, a large-size accurately-fabricated calibration plate is not needed, the dual-eye three-dimensional visual calibration can be completed only by measuringlengths of two camera base lines, and the defects that a traditional calibration method is only applicable to an indoor small visual field and a self-calibration method is low in accuracy are overcome. The method can be used in a complicated environment such as outdoors and a large visual field and has relatively high accuracy, robustness and flexibility.

Description

technical field [0001] The invention belongs to the field of photoelectric detection, and in particular relates to a binocular stereo vision measurement method and system suitable for fusion IMU calibration in outdoor complex environments. Background technique [0002] Binocular stereo vision (Binocular Stereo Vision) is an important form of machine vision. It is based on the principle of parallax and uses imaging equipment to obtain two images of the measured object from different positions. By calculating the position deviation between corresponding points of the image, A method to obtain the three-dimensional geometric information of the object. It has the advantages of high efficiency, appropriate precision, simple system structure, and low cost. It is very suitable for on-line, non-contact product inspection and quality control at the manufacturing site; in addition, in the measurement of moving objects (including animals and human body), due to the Acquisition is inst...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the technical defects of the existing binocular stereo vision calibration method such as cumbersome steps and low precision in a large field of view and complex environment, the present invention proposes a binocular stereo vision measurement method that combines a binocular camera and an IMU for calibration with binocular stereo vision system

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