A Calibration and 3-D Measurement Method for an Active Vision System With Symmetric Yawing Cameras
Xu, De1,2; Zhang, Di1,2; Liu, Xilong1,2; Ma, Liping1,2
Source PublicationIEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
ISSN0018-9456
2021
Volume70Pages:13
Abstract

In this study, we propose a 3-D measurement method for an active stereo vision system with two symmetric yawing cameras. First, we establish a measurement model with five constant systematic parameters and five variables. Second, we present a design for a relatively simple and convenient calibration method to determine the constant systematic parameters for the active vision system. In our proposed method, the initial yaw angles of two cameras are calibrated with a minimum of three equal interval points in a common field of view (FOV). The initial pitch angles are calibrated with at least one point in this common FOV. The initial yaw angles are used in the following calibration processes of the baseline length and the optical offset. The baseline length is calibrated with respect to two such points with known horizontal distance. An offset used to compensate for the difference between the actual optical centers of the two cameras along their optical axes is also computed with at least one feature point with the cameras yawed at different angles. Third, an associated measurement method for objects in the common FOV is presented. The proposed method computes 3-D positions of feature points in the common FOV using these five constant systematic parameters and five variables. This active stereo vision system design does not require repeated calibration for varying yaw of the two cameras to conduct measurements once the five constant systematic parameters have been calibrated offline. We conduct comparative experiments, and the results verify the effectiveness of the proposed method.

Keyword3-D measurement active vision calibration stereo vision symmetric yawing system
DOI10.1109/TIM.2021.3092517
WOS KeywordSTEREO VISION
Indexed BySCI
Language英语
Funding ProjectScience and Technology Program of Beijing Municipal Science and Technology Commission[Z191100008019004] ; National Natural Science Foundation of China[61873266]
Funding OrganizationScience and Technology Program of Beijing Municipal Science and Technology Commission ; National Natural Science Foundation of China
WOS Research AreaEngineering ; Instruments & Instrumentation
WOS SubjectEngineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000688335300009
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Sub direction classification三维视觉
planning direction of the national heavy laboratory视觉信息处理
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/45894
Collection中科院工业视觉智能装备工程实验室_精密感知与控制
Corresponding AuthorXu, De
Affiliation1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Xu, De,Zhang, Di,Liu, Xilong,et al. A Calibration and 3-D Measurement Method for an Active Vision System With Symmetric Yawing Cameras[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2021,70:13.
APA Xu, De,Zhang, Di,Liu, Xilong,&Ma, Liping.(2021).A Calibration and 3-D Measurement Method for an Active Vision System With Symmetric Yawing Cameras.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,70,13.
MLA Xu, De,et al."A Calibration and 3-D Measurement Method for an Active Vision System With Symmetric Yawing Cameras".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 70(2021):13.
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