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Laser & Optoelectronics Progress, Volume. 56, Issue 5, 051502(2019)

Fast Trajectory Measurement Algorithm for Linear Motion Based on Binocular Camera

Chengtao Cai and Feng Wang*
Author Affiliations
  • College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (16)
    Equations (0)
    References (17)
    Cited By (3)
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    Figures & Tables(16)
    Image pixel coordinate system

    Fig. 1. Image pixel coordinate system

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    Establishment of camera coordinate system

    Fig. 2. Establishment of camera coordinate system

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    Camera pinhole model

    Fig. 3. Camera pinhole model

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    Binocular ranging model

    Fig. 4. Binocular ranging model

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    Schematic of measurement

    Fig. 5. Schematic of measurement

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    Schematic of imaging point mapping line

    Fig. 6. Schematic of imaging point mapping line

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    Undistort image. (a) Before processing; (b) after processing

    Fig. 7. Undistort image. (a) Before processing; (b) after processing

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    Target point coordinate measurement

    Fig. 8. Target point coordinate measurement

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    Results of feature point matching

    Fig. 9. Results of feature point matching

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    Results of feature point matching in ROI

    Fig. 10. Results of feature point matching in ROI

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    Comparison of measured trajectory and actual trajectory

    Fig. 11. Comparison of measured trajectory and actual trajectory

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    • Table 1. Actual distance and coordinates of the target

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      Table 1. Actual distance and coordinates of the target

      No.Left eye pixelcoordinate /pixelRight eye pixelcoordinate /pixelActualcoordinate /mmActualrange /mm
      1840,918719,902[0,-540,-4500]4532.3
      2840,920701,904[0,-540,-4000]4036.3
      3840,927683,911[0,-540,-3500]3541.4
      4840,937656,920[0,-540,-3000]3048.2
      5840,948619,932[0,-540,-2500]2557.7
      6840,967560,950[0,-540,-2000]2071.6
      7840,999476,978[0,-540,-1500]1594.2
      8840,1062316,1020[0,-540,-1000]1136.5

    • Table 2. Data of measurement

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      Table 2. Data of measurement

      No.Coordinate measurementresult /mmMeasuringdistance /mmActualdistance /mmError /mmErrorrate /%
      1[-252.81,-499.91,-4253.07]4289.814532.3242.495.35
      2[-111.24,-528.55,-1871.40]1947.784036.32084.5251.74
      3[-194.125,-511.78,-3265.80]3311.363541.4230.046.50
      4[-182.112,-514.21,-3063.71]3111.893048.263.698.64
      5[-151.99,-520.30,-2557.06]2613.882557.756.182.20
      6[-66.57,-537.59,-1119.89]1244.022071.6827.5839.94
      7[-78.92,-535.09,-1327.63]1453.581594.2140.6210.08
      8[-58.98,-539.12,-992.22]1130.761136.55.740.51

    • Table 3. Comparison of corrected target ranging

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      Table 3. Comparison of corrected target ranging

      No.Coordinate measurementresult /mmMeasuringdistance /mmActualdistance /mmError /mmErrorrate /%
      1[-268.28,-523.94,-4513.39]4551.624532.319.320.43
      2[-244.29,-501.60,-4109.87]4147.574036.3111.272.76
      3[-212.33,-509.78,-3572.13]3614.573541.473.172.01
      4[-178.71,-513.37,-3006.45]3055.203048.27.000.23
      5[-149.78,-516.23,-2519.79]2576.482557.718.780.73
      6[-118.18,-516.18,-1988.22]2057.532071.614.070.68
      7[-89.11,-521.96,-1499.08]1589.901594.24.300.27
      8[-60.48,-509.82,-1017.45]1140.211136.53.710.33

    • Table 4. Results of binocular stereoscopic ranging

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      Table 4. Results of binocular stereoscopic ranging

      No.Coordinate measurementresult /mmMeasuringdistance /mmActualdistance /mmError /mmErrorrate /%
      1[227.47,-495.67,-4532.36]4565.054532.332.750.72
      2[203.84,-510.46,-4061.47]4098.494036.362.191.54
      3[180.41,-530.01,-3594.63]3637.973541.496.572.73
      4[153.88,-535.47,-3066.01]3116.223048.268.022.23
      5[128.65,-531.36,-2563.38]2621.032557.763.332.48
      6[80.87,-549.62,-2057.45]2131.132071.659.532.87
      7[78.48,-562.33,-1563.66]1663.551594.269.354.35
      8[76.53,-585.08,-1063.72]1216.421136.579.927.03

    • Table 5. Results of measurement

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      Table 5. Results of measurement

      No.Coordinate measurementresult /mmMeasuringdistance /mmActualdistance /mmError /mmErrorrate /%
      1[226.23, -496.32,-4531.87]4564.584532.332.280.71
      2[203.62,-509.85 ,-4059.98]4096.934036.360.631.50
      3[160.01 ,-539.91 ,-3553.95]3598.293541.456.891.61
      4[143.47,-535.88 ,-3055.99]3105.933048.257.731.89
      5[128.45,-532.01,-2552.88]2610.892557.753.192.08
      6[80.81,-542.79,-2047.48]2119.752071.648.152.32
      7[72.78,-552.33,-1533.66]1631.711594.237.512.35
      8[67.53,-564.08,-1028.75]1175.191136.538.693.39
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    Chengtao Cai, Feng Wang. Fast Trajectory Measurement Algorithm for Linear Motion Based on Binocular Camera[J]. Laser & Optoelectronics Progress, 2019, 56(5): 051502

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    Paper Information

    Category: Machine Vision

    Received: Jul. 8, 2018

    Accepted: Sep. 26, 2018

    Published Online: Jul. 31, 2019

    The Author Email: Wang Feng (wfeng@hrbeu.edu.cn)

    DOI:10.3788/LOP56.051502

    Topics

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