Laser & Optoelectronics Progress, Volume. 56, Issue 3, 031202(2019)
High-Precision Autonomous Positioning Method of Multi-Camera System Based on Graph Optimization
Figures & Tables(8)
Fig. 4. Multi-camera measuring system. (a) Multi-camera system; (b) high precision linear guide rail
Fig. 5. Experiment environment. (a) Spatial VSTARS control field; (b) actual experiment environment
Table 1. Camera external parameter calibration results
View tableTable 1. Camera external parameter calibration results
Parameter Control field (1-2) Turntable (1-2) Error (1-2) Control field (2-3) Turntable (2-3) Error (2-3) α /(°)-1.8412 -1.7787 -0.0625 -1.9852 -1.7353 -0.2499 β /(°)31.6897 31.1477 0.5420 29.7368 30.4546 -0.7178 γ /(°)-1.9087 -1.7975 -0.1112 -2.0064 -1.9747 -0.0317 Tx /mm-87.9742 -88.1284 0.1542 -88.5344 -88.4545 0.0799 Ty /mm-0.4989 -0.3567 -0.1422 -0.5677 -0.3674 -0.2003 Tz /mm-19.1267 -19.5670 0.4403 -20.1275 -20.4234 0.2959
Table 2. Error analysis of the verifying experiments of linear guide rail
View tableTable 2. Error analysis of the verifying experiments of linear guide rail
Experiment number n Actual length L R /mmEP n P averagelength L a /mmAverage EP n Perror E a /mmG2O average length L b /mmAverage G2O length E b /mmAvarage time T /ms1-3 200 199.19 0.81 200.29 0.29 2.83 4-6 200 200.72 0.72 200.49 0.49 4.04 7-9 400 400.95 0.95 599.35 0.35 4.05 10-12 400 399.30 0.70 400.51 0.51 3.24 13-15 600 601.05 1.05 600.48 0.48 2.97 16-18 600 600.75 0.75 599.70 0.30 3.23
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Bowen Liu, Linghui Yang, Zhiyuan Niu, Qiuyu Xu, Zhengji Zhang, Jinwang Wang. High-Precision Autonomous Positioning Method of Multi-Camera System Based on Graph Optimization[J]. Laser & Optoelectronics Progress, 2019, 56(3): 031202
Paper Information
Category: Instrumentation, Measurement and Metrology
Received: May. 22, 2018
Accepted: Aug. 28, 2018
Published Online: Jul. 31, 2019
The Author Email: Yang Linghui (icelinker@tju.edu.cn)
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