A Calibration and 3-D Measurement Method for an Active Vision System With Symmetric Yawing Cameras

doi:10.1109/TIM.2021.3092517

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	A Calibration and 3-D Measurement Method for an Active Vision System With Symmetric Yawing Cameras
	Xu, De 1,2; Zhang, Di 1,2; Liu, Xilong 1,2; Ma, Liping 1,2
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2021
卷号	70 页码:13
关键词	3-D measurement active vision calibration stereo vision symmetric yawing system
ISSN号	0018-9456
DOI	10.1109/TIM.2021.3092517
通讯作者	Xu, De(de.xu@ia.ac.cn)
英文摘要	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.
资助项目	Science and Technology Program of Beijing Municipal Science and Technology Commission[Z191100008019004] ; National Natural Science Foundation of China[61873266]
WOS关键词	STEREO VISION
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000688335300009
资助机构	Science and Technology Program of Beijing Municipal Science and Technology Commission ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/45893]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Xu, De
作者单位	1.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
推荐引用方式 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.