Abstract
This paper describes the development of a novel measurement system of calculating the three-dimensional (3D) coordinates of a target with image information taken from stereo fisheye cameras. The system has the characteristics of high precision, wide of view, long-distance control, dynamic angles compensation and high frame rate measurement. In order to improve the robustness and precision of the system, a detailed uncertainty analysis of the spatial positioning was made. Moreover, a novel method named Dynamic Angles Compensation Method (DACM) is proposed for first time to complete spatial position measurement in the dynamic environment by angles compensation. This method uses a tilt angle sensor that is installed in the birocular measurement system horizontally to calculate the pitch and roll angles of the measurement system, which is the foundation for calculating the conversion equation to compensate the measurement coordinates error caused by the dynamic environment. Using real data acquired by equipment, we performed experiments covering all the necessary stages to obtain a high-performance stereo fisheye vision system. The validity and accuracy of the proposed method are demonstrated with the statistical analyses of the experimental results.
Highlights
With the rapid development of computer vision and image processing technology, the stereo vision has been widely used in robot navigation [1], [2], online measurement of dimensions [3], virtual reality [4], medical diagnosis [5]–[7], mechanical manufacturing [8]–[10] and other measurement applications
The highly precise estimation of position and attitude of objects based on stereo vision play a fundamental role in many fields, such as target tracking [11], rescue mission, 3D reconstruction, the pose estimation of spacecraft, robotic assembly and robot localization
People have studied howto improve the accuracy of stereo vision systems [12]–[14], which can be divided into two categories: the accuracy of system structure design and the accuracy of system work links
Summary
With the rapid development of computer vision and image processing technology, the stereo vision has been widely used in robot navigation [1], [2], online measurement of dimensions [3], virtual reality [4], medical diagnosis [5]–[7], mechanical manufacturing [8]–[10] and other measurement applications. The main contributions of this paper are as follows: (1) A novel and precise measurement system is designed to calculate the 3D coordinates of a long distance moving target with image information taken from the stereo fisheye cameras in a dynamic environment. We utilize the angles obtained from the tilt angle sensor and Dynamic Angles Compensation Method to offset the measurement constraints in the dynamic environments and perform a precise and ideal 3-D position of the target.
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