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Laser & Optoelectronics Progress, Volume. 56, Issue 23, 231504(2019)

Binocular Stereo Vision Calibration Accuracy Evaluation Using Epipolar Constraint

Qingzhe Zhang* and Yong Wang
Author Affiliations
  • Key Laboratory of Road Construction & Equipment, Ministry of Education, Chang'an University, Xi'an, Shaanxi 710064, China
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    Figures & Tables(7)
    Epipolar constraint relationship

    Fig. 1. Epipolar constraint relationship

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    Matching relationship between measured corner points of left image and its right epipolar line

    Fig. 2. Matching relationship between measured corner points of left image and its right epipolar line

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    Real-time evaluation of camera calibration accuracy

    Fig. 3. Real-time evaluation of camera calibration accuracy

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    Calibration poses of 20 mm chessboard

    Fig. 4. Calibration poses of 20 mm chessboard

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    Calibration poses of 10 mm chessboard

    Fig. 5. Calibration poses of 10 mm chessboard

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    • Table 1. Results of five sets of calibration experiments

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      Table 1. Results of five sets of calibration experiments

      Calibration sample(chess board size)Cameraf /pixel(c1, cr)k1k2p1p2
      1(10 mm)LeftRight(368.165,368.093)(373.519,372.718)(350.178,258.085)(353.876,265.347)0.05270.0392-0.0217-0.0173-0.00090.0004-0.00060.0040
      2(10 mm)LeftRight(371.442,371.330)(366.330,365.744)(346.833,255.428)(354.867,265.233)0.05390.03400.03010.0342-0.0010-0.0007-0.00090.0042
      3(20 mm)LeftRight(362.349,362.997)(368.832,369.370)(346.067,258.233)(353.880,266.318)0.02730.0312-0.0245-0.03830.00070.00110.00010.0010
      4(20 mm)LeftRight(370.017,370.576)(371.448,371.956)(349.697,259.817)(354.044,264.984)0.02880.0340-0.0363-0.04600.00040.00070.00010.0010
      5(20 mm)LeftRight(366.331,366.959)(372.603,373.075)(348.547,258.587)(353.470,265.876)0.02730.0374-0.0161-0.04040.00090.00090.00040.0011

    • Table 2. Comparison of measurement results by two methods of camera calibration accuracy evaluation

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      Table 2. Comparison of measurement results by two methods of camera calibration accuracy evaluation

      Calibration sample(chess board size)Imageresidual /pixelMean absolute deviationof distance /pixelCamerabaseline /mmMeasurementerror /mm
      1(10 mm)0.29780.136960.260.26
      2(10 mm)0.26350.164361.111.11
      3(20 mm)0.18790.146860.420.42
      4(20 mm)0.20790.158460.910.91
      5(20 mm)0.21250.172161.211.21
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    Qingzhe Zhang, Yong Wang. Binocular Stereo Vision Calibration Accuracy Evaluation Using Epipolar Constraint[J]. Laser & Optoelectronics Progress, 2019, 56(23): 231504

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    Paper Information

    Category: Machine Vision

    Received: Apr. 11, 2019

    Accepted: Jun. 24, 2019

    Published Online: Nov. 27, 2019

    The Author Email: Zhang Qingzhe (zqzh@chd.edu.cn)

    DOI:10.3788/LOP56.231504

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology