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首页> 外文期刊>Optics and Lasers in Engineering >A calibration method for binocular stereo vision sensor with short-baseline based on 3D flexible control field
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A calibration method for binocular stereo vision sensor with short-baseline based on 3D flexible control field

机译：基于3D柔性控制场的短基线双目立体视觉传感器的标定方法

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摘要

Binocular stereo vision sensor (BSVS) based on disparity is an important technique in 3D shape measurement. In the application of large field-of-view (FOV), a relative short baseline distance of BSVS has heightened the demand for calibration. In this paper, a calibration method based on a virtual 3D flexible control field (FCF) for BSVS with short-baseline is proposed. The FCF is constructed by a laser tracker, a precision two-axis turntable and a camera calibration reference target (CRT) which can be exchanged with a standard laser tracker target precisely. Firstly, the turntable coordinate system is built and the position of the fixed CRT is measured by the laser tracker. Then the turntable with BSVS on it rotates in two dimensions regularly, during which the cameras shoot the fixed CRT synchronously, and the 3D FCF is constructed. Finally, the minimum objective function is established according to the BSVS imaging model to realize the calibration of internal and external parameters integrally. The experimental results show that under the conditions that the baseline is 120mm and the working distance is 3m similar to 5m, the residual error RMS of spatial points is 0.3654mm and the reconstructed distance RMS error is 1.0728mm.
机译：基于视差的双目立体视觉传感器（BSVS）是3D形状测量中的一项重要技术。在大视场（FOV）的应用中，BSVS的相对较短的基线距离提高了对校准的需求。提出了一种基于虚拟3D柔性控制场（FCF）的短基线BSVS校准方法。 FCF由激光跟踪仪，精密的两轴转盘和相机校准参考目标（CRT）构成，可以与标准的激光跟踪仪目标精确地交换。首先，建立转盘坐标系，并通过激光跟踪仪测量固定CRT的位置。然后，上面装有BSVS的转盘会定期二维旋转，在此期间，摄像机将同步拍摄固定的CRT，并构建3D FCF。最后，根据BSVS成像模型建立最小目标函数，以整体实现内部和外部参数的校准。实验结果表明，在基线为120mm，工作距离为3m类似于5m的条件下，空间点的残余误差RMS为0.3654mm，重构距离RMS误差为1.0728mm。

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