Catadioptric omnidirectional monocular visual distance measurement method integrating structured light

Yue ZHANG; Ning ZHANG; Xiping XU; Yu ZHANG; Kailin ZHANG; Xu ZHU

doi:10.37188/OPE.20243204.0490

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)

Fig. 1. Principal diagram of imaging structure of catadioptric omnidirectional system

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Fig. 2. Diagram of spherical projection model

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Fig. 3. Schematic diagram of catoptrical omnidirectional vision measurement model integrating structured light

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Fig. 4. Three-dimensional Diagram of fringe gradient distribution of structured light

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Fig. 5. Structured light ROI extraction results.

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Fig. 6. Illustration of Structure Light Plane Fitting

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Fig. 7. Experimental verification system

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Fig. 8. Extraction results of various algorithms

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Fig. 9. Distance measurement errors comparison data graph

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Fig. 10. Distance measurement accuracy data graph

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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.
Parameters $ξ$ $η$
Parabola 1 -2p
Hyperbola $d / \sqrt[]{d^{2} + 4 p^{2}}$ $- 2 p / \sqrt[]{d^{2} + 4 p^{2}}$
Ellipse $d / \sqrt[]{d^{2} + 4 p^{2}}$ $2 p / \sqrt[]{d^{2} + 4 p^{2}}$
Planar 0 -1

Table 2. Extraction results of various algorithms

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Table 2. Extraction results of various algorithms

Extraction algorithm	Extraction effect	Run time/s
Gray centroid method	There are discontinuities with low accuracy	0.535 9
Extremum method	Complete extraction of light stripes， susceptible to noise interference， with low accuracy noise interference， with low accuracy.	0.684 2
Threshold method	Discontinuities appear with deviations affected by noise	0.565 1
Steger method	Complete extraction of light stripes， but with longer processing time	1.856 3
Improved Steger method	Complete extraction of light stripes and faster compared to Steger algorithm	0.654 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 algorithm	$R^{2}$	SSE	MSE
Gray centroid method	0.975 2	258.164 9	0.473 6
Extremum method	0.982 3	179.695 2	0.356 1
Threshold method	0.976 4	183.325 2	0.416 8
Steger method	0.994 6	106.377 2	0.226 5
Improved Steger method	0.997 9	68.164 3	0.118 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
Parameter $f_{x}$ $f_{y}$ $u_{0}$ $v_{0}$ $ξ$ $η$
Numerical values 363.348 4 338.675 2 1 092.192 0 693.714 3 1.025 0 1
Parameter $θ$ $k_{1}^{c}$ $k_{2}^{c}$ $k_{3}^{c}$ $p_{1}^{c}$ $p_{2}^{c}$
Numerical values 0 0.125 7 0.008 6 -0.001 9 -0.020 9 0

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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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