CASIA OpenIR  > 精密感知与控制研究中心  > 精密感知与控制
Binocular Initial Location and Extrinsic Parameters
Qingbin Wang; Wei Zou; Feng Zhang; De Xu
2014-06
Conference NameInstitute of Automation, Chinese Academy of Sciences
Conference Date2014-06-27
Conference PlaceChina Shenyang
AbstractA 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

KeywordBionic Eye Ellipse Fitting Stereo Vision Calibration Levenberg-marquardt Method Eye-in-hand System
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14451
Collection精密感知与控制研究中心_精密感知与控制
AffiliationInstitute of Automation, Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Qingbin Wang,Wei Zou,Feng Zhang,et al. Binocular Initial Location and Extrinsic Parameters[C],2014.
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