Eye marking relation calibration method for slave eye equipment of cascade stereoscopic vision system

Abstract

The invention discloses an eye marking relation calibration method of a cascade stereo vision system slave eye device, a master stereo vision system is fixed, a slave eye mark having a determined pose relation with the slave stereo vision system is fixedly connected to the surface of the slave stereo vision system, the slave eye mark can be detected by the master stereo vision system, and the pose of the slave eye mark can be recorded. A floating calibration tool and an auxiliary calibration tool are set up, the main stereoscopic vision system is used for obtaining the pose information of the auxiliary eye mark and the coordinate information of the floating calibration tool, and meanwhile the auxiliary stereoscopic vision system is used for obtaining the coordinate information of the auxiliary calibration tool. And the relative pose relationship between the slave stereoscopic vision system and the slave eye mark can be solved through the mathematical relationship among the three, so that the mark-eye relationship can be simply, conveniently and quickly determined.

Description

technical field [0001] The invention relates to the technical field of stereo vision measurement, and more particularly, to a method for calibrating a target eye relationship of a slave eye device of a cascaded stereo vision system. Background technique [0002] The stereo vision pose measurement system has the ability to measure the target pose without contact. It is mostly used in the pose measurement and tracking of surgical instruments and targets in medical robot-assisted surgery. However, stereo vision has the disadvantages of limited working space, fixed working angle, contradictory working distance and measurement accuracy, and the surgical instruments to be tracked are easily occluded. [0003] In actual work scenarios, a large surgical operation space needs to be reserved. To avoid interfering with the surgical operation, either the stereo vision system needs to be moved, or the stereo vision system needs to have a larger working space and working distance. Howev...

AI Technical Summary

Problems solved by technology

Shortening the focal length of the lens will help increase the field of view, but will reduce the positioning accuracy; increasing the binocular baseline distance will help increase the working distance and improve the working accuracy, but will reduce the working space; increasing the camera resolution will help improve the accuracy, but will reduce the working space. Increase system cost and reduce image processing speed; and, regardless of the above-mentioned measures, the viewing angle must be kept fixed during the work process, and there will be a problem that the line of sight is affected by occlusion

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