Binocular Initial Location and Extrinsic Parameters

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Binocular Initial Location and Extrinsic Parameters
	Qingbin Wang; Wei Zou; Feng Zhang; De Xu
	2014-06
会议名称	Institute of Automation, Chinese Academy of Sciences
会议日期	2014-06-27
会议地点	China Shenyang
摘要	A simple binocular visual equipment is designed in this paper, which is mainly composed by two CCD cameras and four stepping motors. Firstly, the two cameras’ initial location is determined based on rough location by moving to the limiting position, and precise location by driving the image center aligning with fitted ellipse center. Then, the transformation matrix between coordinate systems of motion module end and the camera is calibrated with eye-in-hand calibration method, which adopts multi frame images and a method based on LevenbergMarquardt iterative algorithm to improve its precision and robustness. Finally, the updating equations of transformation matrix between two camera’s coordinate systems are deduced with high precision and real-time property to guarantee the binocular visual system’s depth perception. The performance of the above methods is confirmed by comparative experiments
关键词	Bionic Eye Ellipse Fitting Stereo Vision Calibration Levenberg-marquardt Method Eye-in-hand System
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/14451
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
作者单位	Institute of Automation, Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Qingbin Wang,Wei Zou,Feng Zhang,et al. Binocular Initial Location and Extrinsic Parameters[C],2014.

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