Velocity measurement technology of curved bionic compound eye

Tao LIU; Wenge GUO; Shuaimin ZHU; Yuanjie ZHANG; Huangrong XU; Dengshan WU; Xiaojun ZHOU; Weixing YU

doi:10.5768/JAO202445.0103001

Journal of Applied Optics, Volume. 45, Issue 1, 134(2024)

Velocity measurement technology of curved bionic compound eye

Tao LIU1... Wenge GUO1, Shuaimin ZHU1, Yuanjie ZHANG2,3, Huangrong XU3, Dengshan WU2,3, Xiaojun ZHOU2, and Weixing YU23,* |Show fewer author(s)

Author Affiliations

¹College of Science, Xi'an Petroleum University, Xi'an 710065, China

²Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an 710072, China

³College of Optoelectronics, University of Chinese Academy of Sciences, Beijing 100049, China

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Figures & Tables(14)

Fig. 1. Schematic of velocity measurement of curved bionic compound eye imaging system and diagram of cluster eyes imaging coordinate system

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Fig. 2. Schematic diagram of geometric transformation of adjacent sub-images

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Fig. 3. Target movement process

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Fig. 4. Fusion image of curved bionic compound eye velocimetry system at different shooting distances

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Fig. 5. Velocity measurement process of curved bionic compound eye velocimetry system

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Fig. 6. Sub-images of two adjacent small eyes of curved bionic compound eye system

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Fig. 7. Feature point matching of two adjacent sub-images

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Fig. 8. Relative errors of cluster eyes

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Fig. 9. Comparison of velocity measurement results between compound eye and single aperture cameras

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Table 1. Pixel coordinates corresponding to target positions P and P' at different shooting distances of compound eye

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Table 1. Pixel coordinates corresponding to target positions P and P' at different shooting distances of compound eye

测试位置	子眼数	像素坐标（u_i，v_i）
测试位置	子眼数	D=9.3 m	D=6.4 m
P	1	（4 101，2 581）	（4 547，2 547）
	2	（3 822，2 117）	（4 267，2 080）
	3	（4 366，2 105）	（4 810，2 069）
	4	（4 647，2 576）	（5 095，2 537）
	5	（4 377，3 052）	（4 825，3 017）
	6	（3 835，3 053）	（4 280，3 022）
	7	（3 560，2 589）	（4 004，2 553）
P'	1	（851，2 654）	（911，2 631）
	2	（571，2 182）	（632，2 159）
	3	（1 118，2 176）	（1 178，2 155）
	4	（1 396，2 645）	（1 455，2 622）
	5	（1 134，3 119）	（1 193，3 095）
	6	（589，3 128）	（646，3 106）
	7	（308，2 660）	（365，2 638）

Table 2. Comparison of test speed and actual speed at different shooting distances of compound eye
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Table 2. Comparison of test speed and actual speed at different shooting distances of compound eye
测试位置/m 速度测量值 V/(m/s) 平均速度/ (m/s) 实际速度/ (m/s) 误差/%
V₁ V₂ V₃ V₄ V₅ V₆ V₇
9.3 8.61 8.62 8.60 8.62 8.57 8.58 8.62 8.60 8.33 3.24
6.4 8.05 8.04 8.03 8.07 8.03 8.04 8.06 8.04 8.33 3.48

Table 3. Comparison of parameters of curved bionic compound eye camera and single aperture camera

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Table 3. Comparison of parameters of curved bionic compound eye camera and single aperture camera

参数	数值
参数	复眼相机	单孔径相机
子眼个数 N	127	1
球壳半径 R/mm	68	33
单个子眼直径 D/mm	7.4	66
像元尺寸 α/μm	4.5	11
单个子眼的视场角 Δ $φ$ /(°)	14	/
相邻子眼的重叠角度/(°)	7	/
相机帧速率/fps	13	23
总视场 $ω$ /(°)	98×98	95.4×78.4
焦距 f/mm	5	6

Table 4. Pixel coordinates corresponding to the number of target position frames at different shooting distances of single-aperture cameras

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Table 4. Pixel coordinates corresponding to the number of target position frames at different shooting distances of single-aperture cameras

帧数		像素坐标（u_i，v_i）
9.3 m图像帧	6.4 m图像帧	D=9.3 m	D=6.4 m
535	215	（531，957）	（582，941）
545	220	（768，960）	（738，943）
560	230	（1 068，965）	（1 058，950）
565	235	（1 156，967）	（1 183，954）
550	335	（550，958）	（677，958）
563	340	（833，961）	（833，961）
573	345	（1 071，966）	（980，963）
580	355	（1 227，969）	（1 283，969）

Table 5. Comparison of test speed and actual speed at different shooting distances of single aperture

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Table 5. Comparison of test speed and actual speed at different shooting distances of single aperture

测试位置 D/m	速度测量值 V(m/s)						平均速度/(m/s)	实际速度/(m/s)	误差/%
测试位置 D/m	V₁	V₂	V₃	V₄	V₅	V₆	平均速度/(m/s)	实际速度/(m/s)	误差/%
9.3	9.31	8.43	8.17	7.86	7.61	7.14	8.08	8.33	2.9
6.4	8.71	8.73	8.59	8.20	8.03	6.98	8.20	8.33	1.5
9.3	8.61	8.88	8.87	9.43	9.20	8.86	8.97	8.33	7.68
6.4	8.71	8.26	8.17	8.21	8.12	8.26	8.28	8.33	0.6

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Tao LIU, Wenge GUO, Shuaimin ZHU, Yuanjie ZHANG, Huangrong XU, Dengshan WU, Xiaojun ZHOU, Weixing YU. Velocity measurement technology of curved bionic compound eye[J]. Journal of Applied Optics, 2024, 45(1): 134

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Paper Information

Category: Research Articles

Received: Feb. 27, 2023

Accepted: --

Published Online: May. 28, 2024

The Author Email: YU Weixing (鱼卫星（1975—）)

DOI:10.5768/JAO202445.0103001

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Pixel coordinates corresponding to target positions P and P' at different shooting distances of compound eye

Table 1. Pixel coordinates corresponding to target positions P and P' at different shooting distances of compound eye

Table 2. Comparison of test speed and actual speed at different shooting distances of compound eye

Table 2. Comparison of test speed and actual speed at different shooting distances of compound eye

Table 3. Comparison of parameters of curved bionic compound eye camera and single aperture camera

Table 3. Comparison of parameters of curved bionic compound eye camera and single aperture camera

Table 4. Pixel coordinates corresponding to the number of target position frames at different shooting distances of single-aperture cameras

Table 4. Pixel coordinates corresponding to the number of target position frames at different shooting distances of single-aperture cameras

Table 5. Comparison of test speed and actual speed at different shooting distances of single aperture

Table 5. Comparison of test speed and actual speed at different shooting distances of single aperture

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