Geometrically Driven Underground Camera Modeling and Calibration With Coplanarity Constraints for a Boom-Type Roadheader

Abstract

The conventional calibration methods based on a perspective camera model are not suitable for the underground camera with two-layer glasses, which is specially designed for explosion proof and dust removal in a coal mine. Underground camera modeling and calibration algorithms are urgently needed to improve the precision and reliability of underground visual measurement systems. This article presents a novel geometrically driven underground camera calibration algorithm for a boom-type roadheader. The underground camera model is established under coplanarity constraints, considering explicitly the impact of refraction triggered by the two-layer glasses and deriving the geometrical relationship of equivalent collinearity equations. On this basis, we perform parameters calibration based on a geometrically driven calibration model, which are 2D-2D correspondences between the image points and object coordinates of the planar target. A hybrid Levenberg-Marqurdt (LM) and particle swarm optimization (PSO) algorithm is further proposed in terms of the dynamic combination of the LM and PSO, which optimizes the underground camera calibration results by minimizing the error of the nonlinear underground camera model. The experimental results demonstrate that the pose errors caused by the two-layer glass refraction are well corrected by the proposed method. The accuracy of the cutting-head pose estimation has increased by 55.73%, meeting the requirements of underground excavations.