Acta Photonica Sinica, Volume. 52, Issue 9, 0911003(2023)
Target Localization Technology Based on Biomimetic Curved Compound Eye Camera
Figures & Tables(15)
Fig. 3. Analysis of overlapping fields of view for adjacent sub eyes
Fig. 7. Comparison of measurement results of measurement systems with different sub eye quantity
Table 1. Internal parameters of some sub eyes
View tableView in ArticleTable 1. Internal parameters of some sub eyes
Number of sub eyes cx/pixel cy/pixel fx/pixel fy/pixel Reprojection error/pixel 1 162.53 164.66 1 101.9 1 102.9 0.249 7 2 156.83 143.34 1 109.1 1 108.6 0.259 4 3 177.68 156.28 1 092.8 1 092.5 0.270 8 4 113.16 156.18 1 098.9 1 102.5 0.277 1
Table 2. External parameters of some adjacent sub eyes
View tableView in ArticleTable 2. External parameters of some adjacent sub eyes
Adjacent sub eye number R omT 2 ［-0.135 4 0.073 0 -0.002 1］T ［-5.588 5 -10.134 8 -1.016 4］T 3 ［-0.004 6 0.172 7 -0.000 5］T ［-11.357 3 -0.008 8 -1.301 7］T 4 ［0.157 0 0.059 5 0.002 1］T ［-5.794 8 9.745 9 -2.438 4］T
Table 3. Spot size at different distances
View tableView in ArticleTable 3. Spot size at different distances
Distance/mm 900 1 500 2 100 2 700 3 300 3 600 3 900 Illuminance area/mm2 3.85×10-3 2.29×10-3 1.66×10-3 1.02×10-3 0.62×10-3 0.25×10-3 0.15×10-3
Table 4. Coordinate error of centroid of light spot at different distances
View tableView in ArticleTable 4. Coordinate error of centroid of light spot at different distances
Z/mm Standard deviation in x direction/pixel Standard deviation in y direction/pixel 900 0.039 0.059 1 500 0.049 0.063 2 100 0.057 0.059 2 700 0.064 0.071 3 300 0.085 0.095 3 900 0.135 3 0.173 9
Table 5. Positioning error caused by centroid shift of light spot
View tableView in ArticleTable 5. Positioning error caused by centroid shift of light spot
Z/mm 900 1 500 2 100 2 700 3 300 3 900 Relative error 0.08% 0.15% 0.16% 0.2% 0.25% 0.31%
Table 6. Measurement results of feature point spacing
View tableView in ArticleTable 6. Measurement results of feature point spacing
Measured distance/mm 5.91 5.89 5.92 12.23 11.86 Real distance/mm 6 6 6 12 12 Error/% 1.50% 1.83% 1.33% 1.92% 1.17%
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Shuaimin ZHU, Wenge GUO, Tao LIU, Yuanjie ZHANG, Huangrong XU, Dengshan WU, Xiaojun ZHOU, Weixing YU. Target Localization Technology Based on Biomimetic Curved Compound Eye Camera[J]. Acta Photonica Sinica, 2023, 52(9): 0911003
Paper Information
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Received: Apr. 20, 2023
Accepted: May. 17, 2023
Published Online: Oct. 24, 2023
The Author Email: GUO Wenge (wguo@xsyu.edu.cn), YU Weixing (yuwx@opt.ac.cn)
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