Abstract
Active-vision-based measurement plays an important role in the profile inspection study. The binocular vision, a passive vision, is employed in the active vision system to contribute the benefits of them. The laser plane is calibrated by two 2D targets without texture initially. Then, an L target with feature points is designed to construct the orthogonality object of two vectors. In order to accurately model the binocular-active-vision system, the feature points on the L target are built by two cameras and parameterized by the laser plane. Different from the optimization methods on the basis of the distance object, the laser plane is further refined by the distance-angle object. Thus, an optimization function is created considering both the norms and angles of the vectors. However, the scale of the distance is diverse from the scale of the angle. Therefore, the optimization function is enhanced by the normalization process to balance the different scales. The comparison experiments show that the binocular active vision with the normalization object of vector orthogonality achieves the decreasing distance errors of 25%, 22%, 13% and 4%, as well as the decreasing angle errors of 23%, 20%, 14% and 4%, which indicates an accurate measurement to reconstruct the object profile.
Highlights
MethodsA laser plane is projected to the two targets
In view of other methods, the binocular-active-vision method with the normalization object of the vector orthogonality achieves the higher accuracy for the reconstruction and is available for the object profile measurement and motion analysis
A profile measurement method adopting binocular active vision with the normalization object of vector orthogonality is presented in the paper
Summary
A laser plane is projected to the two targets. There are two intersection lines on the targets. The two cameras capture the laser intersection lines. The projections of the intersection lines are generated on the image planes of the two cameras. Where A*, B* are the plane-based Plücker matrices of the intersection lines on the left and right targets, respectively. In order to refine the laser plane and reconstruct the 3D intersection points between the measured object and the laser plane, we design an L target with three feature points Qi,[1], Qi,, Qi,[3] in the i-th position. The projections of the three points captured by two cameras obey to the pinhole model[17]. Q α i,j projection points on the left and right cameras.
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