Stereo Camera Deformation Compensation for Accurate 3D Measurement
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Solution Overview
Problem
Existing stereo camera systems face inaccuracies in 3D measurements due to geometrical deformations caused by inertial forces, which are not adequately addressed by current calibration methods, leading to a loss in measurement accuracy.
Innovation Solution
A method and computer program product that compensates for imaging errors by using an inertial variable vector, such as a gravity vector, to update external camera parameters through a calibrated analytic deformation model, accounting for geometric deformations in stereo cameras.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a stereo camera is used with multiple orientations, then the adaptability of the camera system is improved, but the measurement precision deteriorates due to geometrical deformation from inertial forces
Solution Approach 1:
The system performs preliminary calibration by capturing images of a calibration object at multiple known orientations. This preliminary data is used to pre-compute deformation compensation parameters that are stored for later use during actual measurements, eliminating the need for real-time complex calculations while maintaining accuracy across different orientations.
Solution Approach 2:
The system changes the external camera parameters based on the detected orientation and inertial forces. By dynamically adjusting these parameters according to the current operational state, the system compensates for geometrical deformation and maintains measurement precision across various orientations and load conditions.
2Device complexity
If calibration is performed assuming a rigid common holder, then the calibration process is simplified, but the measurement precision deteriorates when the holder deforms under load
Solution Approach 1:
The system transitions from a static rigid holder assumption to a dynamic model that accounts for elastic deformation. The common holder is modeled as a flexible structure whose deformation can be predicted based on applied loads and orientation, allowing the calibration process to compensate for these dynamic changes while maintaining reasonable complexity.
Solution Approach 2:
The system replaces the mechanical assumption of rigidity with a computational elastic deformation model. Instead of physically making the holder rigid, the system uses mathematical models to predict and compensate for the elastic deformation that occurs under various load conditions, achieving accuracy without increasing physical complexity.
3Measurement precision
If accurate calibration in the micrometer range is performed, then the measurement precision is improved, but the ease of operation deteriorates due to the laborious calibration process
Solution Approach 1:
The system performs the complex high-precision calibration work in advance by capturing images of a calibration object at multiple known orientations. This preliminary calibration establishes a deformation model that can be automatically applied during operation, achieving micrometer-level accuracy without requiring repeated laborious calibration procedures.
Solution Approach 2:
The system uses its own imaging capability to perform the calibration process. By capturing images of a calibration object and automatically processing these images to determine deformation parameters, the system calibrates itself without requiring external specialized equipment or expert intervention, significantly reducing operational effort.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves 3D measurement accuracy by numerically correcting external camera parameters, thereby enhancing the precision of stereophotogrammetric analysis.
Implementation Method 1
Different orientations of a stereo camera may - due to inertial forces such as gravity or other acceleration-dependent forces - geometrically deform the stereo camera
Implementation Method 2
Different orientations of a stereo camera may - due to inertial forces such as gravity or other acceleration-dependent forces - geometrically deform the stereo camera
Implementation Method 3
geometrically deform the stereo camera, changing the relative orientation and position between the cameras of the stereo camera
Data Source
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AI summary
The invention relates to a method for numerically compensating imaging errors caused by a geometrical deformation of a stereo camera (1), and to a corresponding computer program product for numerically compensating such imaging errors, and to a stereo camera (1) which acquired images are numerically compensated as in the method and computer program product according to the invention.