Optics and Precision Engineering, Volume. 32, Issue 4, 490(2024)

Catadioptric omnidirectional monocular visual distance measurement method integrating structured light

Yue ZHANG1... Ning ZHANG1,*, Xiping XU1,*, Yu ZHANG2, Kailin ZHANG1 and Xu ZHU1 |Show fewer author(s)
Author Affiliations
  • 1School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun30022, China
  • 2School of Artificial Intelligence, Changchun University of Science and Technology, Changchun1300, China
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    Figures & Tables(14)
    Principal diagram of imaging structure of catadioptric omnidirectional system
    Diagram of spherical projection model
    Schematic diagram of catoptrical omnidirectional vision measurement model integrating structured light
    Three-dimensional Diagram of fringe gradient distribution of structured light
    Structured light ROI extraction results.
    Illustration of Structure Light Plane Fitting
    Experimental verification system
    Extraction results of various algorithms
    Distance measurement errors comparison data graph
    Distance measurement accuracy data graph
    • Table 1. Tables should be placed in the main text near to the first time they are cited.

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      Table 1. Tables should be placed in the main text near to the first time they are cited.

      Parametersξη
      Parabola1-2p
      Hyperbolad/d2+4p2-2p/d2+4p2
      Ellipsed/d2+4p22p/d2+4p2
      Planar0-1
    • Table 2. Extraction results of various algorithms

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      Table 2. Extraction results of various algorithms

      Extraction algorithmExtraction effectRun time/s
      Gray centroid methodThere are discontinuities with low accuracy0.535 9
      Extremum methodComplete extraction of light stripes, susceptible to noise interference, with low accuracy noise interference, with low accuracy.0.684 2
      Threshold methodDiscontinuities appear with deviations affected by noise0.565 1
      Steger methodComplete extraction of light stripes, but with longer processing time1.856 3
      Improved Steger methodComplete extraction of light stripes and faster compared to Steger algorithm0.654 9
    • Table 3. Fitted results of extracted light stripe centers for each algorithm

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      Table 3. Fitted results of extracted light stripe centers for each algorithm

      Extraction algorithmR2SSEMSE
      Gray centroid method0.975 2258.164 90.473 6
      Extremum method0.982 3179.695 20.356 1
      Threshold method0.976 4183.325 20.416 8
      Steger method0.994 6106.377 20.226 5
      Improved Steger method0.997 968.164 30.118 7
    • Table 4. Internal parameters of XN-DR01 advanced non-spherical catadioptric omnidirectional camera

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      Table 4. Internal parameters of XN-DR01 advanced non-spherical catadioptric omnidirectional camera

      Parameterfxfyu0v0ξη
      Numerical values363.348 4338.675 21 092.192 0693.714 31.025 01
      Parameterθk1ck2ck3cp1cp2c
      Numerical values00.125 70.008 6-0.001 9-0.020 90
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    Yue ZHANG, Ning ZHANG, Xiping XU, Yu ZHANG, Kailin ZHANG, Xu ZHU. Catadioptric omnidirectional monocular visual distance measurement method integrating structured light[J]. Optics and Precision Engineering, 2024, 32(4): 490

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    Paper Information

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    Received: Sep. 25, 2023

    Accepted: --

    Published Online: Apr. 2, 2024

    The Author Email:

    DOI:10.37188/OPE.20243204.0490

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