Joint Calibration and Orientation Method of Dual-Camera System for Wide-Range Visual Measurement

Zhi Wang; Mingli Dong; Peng Sun; Qilin Liu; Bixi Yan; Jun Wang

doi:10.3788/LOP202259.1415019

Laser & Optoelectronics Progress, Volume. 59, Issue 14, 1415019(2022)

Joint Calibration and Orientation Method of Dual-Camera System for Wide-Range Visual Measurement

Zhi Wang1...2, Mingli Dong1,2,*, Peng Sun1,2, Qilin Liu1,2, Bixi Yan1,2, and Jun Wang12 |Show fewer author(s)

¹Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System, Ministry of Education, Beijing Information Science & Technology University, Beijing 100192, China

²School of Instrument Science and Opto-Electronics Engineering, Beijing Information Science & Technology University, Beijing 100192, China

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Figures & Tables(11)

Fig. 1. Flow chart of the proposed method

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Fig. 2. Diagram of dual-camera measurement system based on relative exterior parameters

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Fig. 3. System site construction drawing

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Fig. 4. Diagram of experiment. (a) Experimental site; (b) UAV posture

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Fig. 5. Pictures taken by left and right cameras. (a) Left camera; (b) right camera

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Fig. 6. Reconstruction of scale ruler in 3D space

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Fig. 7. Histogram of reconstruction error of scale ruler

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Table 1. Calibration results of interior parameters and distortion coefficient after bundle adjustment

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Table 1. Calibration results of interior parameters and distortion coefficient after bundle adjustment

Parameter		Left camera		Right camera
Parameter		Calibration result	Standard deviation	Calibration result	Standard deviation
Interior parameter	c /mm	20.985	3.361×10^-4	21.126	3.761×10^-4
	x₀ /mm	-0.115	5.857×10^-4	-0.147	5.780×10^-4
	y₀ /mm	0.269	8.491×10^-4	0.395	8.023×10^-4
Distortion coefficient	K₁ /mm^-2	1.652×10^-4	4.140×10^-7	1.391×10^-4	5.166×10^-7
	K₂ /mm^-4	-8.164×10^-7	3.705×10^-9	-3.577×10^-7	3.739×10^-9
	K₃ /mm^-6	3.539×10^-9	2.513×10^-10	-1.743×10^-9	1.471×10^-10
	P₁ /mm^-1	-9.387×10^-6	4.431×10^-6	2.838×10^-6	1.557×10^-6
	P₂ /mm^-1	6.263×10^-6	1.721×10^-6	2.158×10^-6	1.156×10^-6

Table 2. Calibration results of relative exterior parameters of two cameras

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Table 2. Calibration results of relative exterior parameters of two cameras

Relative exterior parameter	Bundle adjustment determination	Standard deviation
X₀ /mm	-10337.656	0.635
Y₀ /mm	-0.015	0.085
Z₀ /mm	-703.309	0.521
φ /（°）	-25.927	3.732×10^-5
ω /（°）	8.972×10^-3	1.081×10^-4
κ /（°）	-8.552×10^-3	3.586×10^-5

Table 3. Average error, root mean square error, and maximum error of the reconstructed length
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Table 3. Average error, root mean square error, and maximum error of the reconstructed length
Mean error /mm RMSE /mm Maximum error /mm
0.193 2.316 5.483

Table 4. Reconstructed space distance and error of uncalibrated position
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Table 4. Reconstructed space distance and error of uncalibrated position
Serial number Reconstructed spatial distance /mm Error /mm
1 983.670 0.473
2 983.159 -0.038
3 983.249 0.052
4 983.475 0.278
5 983.216 0.019
6 982.168 -1.029
7 983.165 -0.032
8 982.207 -0.99

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Zhi Wang, Mingli Dong, Peng Sun, Qilin Liu, Bixi Yan, Jun Wang. Joint Calibration and Orientation Method of Dual-Camera System for Wide-Range Visual Measurement[J]. Laser & Optoelectronics Progress, 2022, 59(14): 1415019

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