A calibration method for binocular stereo vision sensor with short-baseline based on 3D flexible control field

Abstract 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 ∼ 5m, the residual error RMS of spatial points is 0.3654mm and the reconstructed distance RMS error is 1.0728mm.

[1]  张曦 Zhang Xi,et al.  High precision calibration of vision measurement system in large FOV based on virtual 3D target , 2017 .

[2]  Ioannis Pitas,et al.  Automatic Detection of 3D Quality Defects in Stereoscopic Videos Using Binocular Disparity , 2017, IEEE Transactions on Circuits and Systems for Video Technology.

[3]  O. D. Faugeras,et al.  Camera Self-Calibration: Theory and Experiments , 1992, ECCV.

[4]  Kazunori Umeda,et al.  Occlusion handling for a target-tracking robot with a stereo camera , 2018 .

[5]  Juntong Xi,et al.  A two-step calibration method of a large FOV binocular stereovision sensor for onsite measurement , 2015 .

[6]  Guangjun Zhang,et al.  A novel and accurate calibration method for cameras with large field of view using combined small targets , 2015 .

[7]  Amiya Nayak,et al.  Direct Ellipse Fitting and Measuring Based on Shape Boundaries , 2007, PSIVT.

[8]  Changku Sun,et al.  Study on flexible calibration method for binocular stereo vision system , 2009, International Conference on Optical Instruments and Technology.

[9]  Guangjun Zhang,et al.  A position-distortion model of ellipse centre for perspective projection , 2003 .

[10]  Jorge J. Moré,et al.  The Levenberg-Marquardt algo-rithm: Implementation and theory , 1977 .

[11]  Ju Huo,et al.  Flexible calibration of camera with large FOV based on planar homography , 2015 .

[12]  Guangjun Zhang,et al.  A calibration method for stereo vision sensor with large FOV based on 1D targets , 2011 .

[13]  Roger Y. Tsai,et al.  A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses , 1987, IEEE J. Robotics Autom..

[14]  Liang Jin,et al.  A cross-target-based accurate calibration method of binocular stereo systems with large-scale field-of-view , 2010 .

[15]  Gauthier Lafruit,et al.  Self-calibration of large scale camera networks , 2014, 2014 International Conference on Signal Processing and Multimedia Applications (SIGMAP).

[16]  Changyu Long,et al.  Analysis of calibration accuracy of cameras with different target sizes for large field of view , 2018, Other Conferences.

[17]  Keyi Wang,et al.  Out-of-focus color camera calibration with one normal-sized color-coded pattern , 2017 .

[18]  Yuwei Wang,et al.  Camera Calibration Robust to Defocus Using Phase-Shifting Patterns , 2017, Sensors.

[19]  Xavier Armangué,et al.  A comparative review of camera calibrating methods with accuracy evaluation , 2002, Pattern Recognit..

[20]  Jian Li,et al.  Star sensor calibration based on integrated modelling with intrinsic and extrinsic parameters , 2014 .

[21]  Mikołaj Roszkowski.  Disparity map estimation using image pyramid , 2013, Other Conferences.

[22]  Jean-Nicolas Ouellet,et al.  A Simple Operator for Very Precise Estimation of Ellipses , 2007, Fourth Canadian Conference on Computer and Robot Vision (CRV '07).

[23]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[24]  Yong Seon Moon,et al.  Visual tracking of objects for unmanned surface vehicle navigation , 2016, 2016 16th International Conference on Control, Automation and Systems (ICCAS).