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Calibration method for binocular vision sensor based on one-dimension target

A binocular vision and calibration method technology, applied in the field of measurement, can solve the problems of inapplicable binocular vision sensor on-site calibration, difficulty in ensuring quality, and affecting calibration accuracy, etc., to achieve the effect of flexible processing, low cost, and improved calibration accuracy

Inactive Publication Date: 2007-05-30
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Although it is relatively easy to process and manufacture high-precision two-dimensional precision targets, it is difficult to ensure the quality of the image features of multiple feature points on the target after being imaged by the camera, which affects the calibration accuracy
For binocular vision sensors with a large measurement range, the above three calibration methods are not suitable for on-site calibration of binocular vision sensors with a large measurement range due to the need for large calibration targets

Method used

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  • Calibration method for binocular vision sensor based on one-dimension target
  • Calibration method for binocular vision sensor based on one-dimension target
  • Calibration method for binocular vision sensor based on one-dimension target

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Experimental program
Comparison scheme
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Embodiment

[0075] Two Minton MS368P cameras (537×505) and 50mm lenses are used to form a binocular vision sensor and a one-dimensional baseline ruler to carry out on-site, with an image resolution of 768pixels×576pixels. The working distance of the sensor is about 1500mm, and the measuring range is 200mm×200mm.

[0076] Firstly, the internal parameters of the left and right cameras are calibrated using the planar target shown in Figure 1, and the obtained calibration parameters are:

[0077] Internal parameters of the left camera

[0078] f x =8338.661f y =8324.729

[0079] u 0 =396.503 v 0 =299.245k 1 =-5.05×10 -1

[0080] Internal parameters of the right camera

[0081] f x =8392.925f y =8376.574

[0082] u 0 = 412.012 v 0 =276.325k 1 =-6.65×10 -1

[0083] Then use the one-dimensional target as shown in Figure 2, and the center point of the circular hole in the figure is the feature point. The only known information of the target is the distance between the centers of...

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Abstract

The invention belongs to field of measuring technique and relates to a calibration method and improvement for binocular vision sensor of stereopsis three-dimensional measurement. In the invention, a calibration method of binocular vision sensor based on uncertain moving one-dimensional target is provided. When the sensor is installed completely, two cameras shoot images of moving one-dimensional target, use the image coordinates of characteristic points in the target and the distance between two characteristic points; adopt non-linear optimization technique to estimate the structural parameters of binocular vision sensor. The present method doesn't need expensive ancillary adjusting equipments, high calibration accuracy, simple course, high efficiency, could satisfy requirements for site calibration for binocular vision sensor structural parameters of large dimension.

Description

technical field [0001] The invention belongs to the technical field of measurement and relates to the improvement of a binocular vision sensor parameter calibration method in stereo vision three-dimensional measurement. Background technique [0002] Binocular stereo vision 3D measurement has the advantages of non-contact, fast speed, good system flexibility, and high precision. It is widely used in 3D model reconstruction, 3D information measurement of object surface contour, and measurement of key geometric parameters of objects. A typical binocular vision sensor is mainly composed of two cameras. Based on optical triangulation and the principle of stereo parallax, it completes the three-dimensional measurement of all feature points in the public field of view, such as the center of the circular hole and the corner features. The calibration of the measurement model parameters of the binocular vision sensor is the key to the successful application of the binocular vision sen...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/24G03B43/00
Inventor 周富强张广军
Owner BEIHANG UNIV
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