Analysis of Attitude Calibration Precision of P4P Camera

Fan Zhu; Fangsu Yu; Yiming Wu; Chong Hao

doi:10.3788/AOS201838.1115005

Acta Optica Sinica, Volume. 38, Issue 11, 1115005(2018)

Analysis of Attitude Calibration Precision of P4P Camera

Fan Zhu^1,2、*, Fangsu Yu², Yiming Wu², and Chong Hao^1,2

Author Affiliations

¹ University of Chinese Academy of Sciences, Beijing 100049, China

² Research Laboratory of Optical Orientation and Measurement Technology, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, Shaanxi 710119, China

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Figures & Tables(6)

Fig. 1. Definition of coordinate system. (a) Camera coordinate system; (b) target coordinate system

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Fig. 2. Experimental platform

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Table 1. Input of system parameters

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Table 1. Input of system parameters

Serial number	Item	Value
1	Coordinate of feature point 1 /mm	(-225,-225,0)
2	Coordinate of feature point 2 /mm	(225,-225,0)
3	Coordinate of feature point 3 /mm	(225,225,0)
4	Coordinate of feature point 4 /mm	(-225,225,0)
5	Focal length /mm	35
6	Pixel size /(μm×μm)	5.5×5.5
7	(C_X,C_Y) /pixel	(1024.5,1024.5)
8	Resolution of camera /(pixel×pixel)	4096×4096
9	(T_X,T_Y,T_Z) /mm	(100,100,2000)

Table 2. Estimate values of error sources

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Table 2. Estimate values of error sources

Serial number	Item	Value
1	Errors of image orientations Δx_n_i and Δ $\begin{matrix} {y_{ni}}_{} \end{matrix}$ /pixel	0.3
2	Aberration Δx_E_i and Δ $\begin{matrix} {y_{Ei}}_{} \end{matrix}$ /%	0.1
3	Error of principal point ΔC_x and Δ $\begin{matrix} {C_{y}}_{} \end{matrix}$ /pixel	10
4	Error of focal length ΔF_x and ΔF_y	91
5	Errors of locations of feature points ΔX_i and Δ $\begin{matrix} {Y_{i}}_{} \end{matrix}$ /mm	0.1

Table 3. Error items(°)

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Table 3. Error items(°)

Error	Attitude
	A_Z	0	5	5	-5	-5	30	30	-30	-30
	A_X	0	3	-3	3	-3	5	-5	5	-5
	A_Y	0	3	3	-3	-3	5	5	-5	-5
ΔA_Z\|_n		0.0200	0.0201	0.0200	0.0202	0.0200	0.0301	0.0301	0.0305	0.0302
ΔA_Z\|_E		0	0	0	0	0	0	0	0	0
ΔA_Z\|_C		0	-0.0047	-0.0047	0.0047	0.0047	-0.0079	-0.0079	0.0079	0.0079
ΔA_Z\|_F		0	0	0	0	0	0	0	0	0
ΔA_Z\|_D		0.0106	0.0107	0.0106	0.0107	0.0106	0.0109	0.0109	0.0111	0.0110
ΔA_Z		0.0226	0.0233	0.0231	0.0233	0.0231	0.0330	0.0330	0.0334	0.0331

Table 4. Results of measurements(°)
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Table 4. Results of measurements(°)
Serial number A_X₀ A_Y₀ A_Z₀ Measuring value A_Z ΔA_Z
1 0 0 0 0 0
2 3 3 5 5.021 0.021
3 -3 3 5 4.982 0.018
4 3 -3 -5 -5.019 0.019
5 -3 -3 -5 -4.980 0.020
6 5 5 30 30.029 0.029
7 -5 5 30 29.972 0.028
8 5 -5 -30 -30.025 0.025
9 -5 -5 -30 -29.972 0.028