General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement

Junhua Sun; Chang Liu; Zhou Zhang

doi:10.3788/AOS201939.0215003

Acta Optica Sinica, Volume. 39, Issue 2, 0215003(2019)

General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement

Junhua Sun^*, Chang Liu, and Zhou Zhang

Author Affiliations

School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China

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Figures & Tables(11)

Fig. 1. Schematic of general distortion correction model of omnidirectional structured-light vision measurement

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$Two non-coplanar refraction planes. (a) Refraction at Q1; (b) refraction at Q0$

Fig. 2. Two non-coplanar refraction planes. (a) Refraction at Q1; (b) refraction at Q0

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Fig. 3. Experimental devices. (a) Omnidirectional structural-light vision measurement system; (b) calibration devices

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Fig. 4. Image of calibration board. (a) Captured by vision sensor camera; (b) captured by auxiliary one

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Fig. 5. Measurement device for internal diameter of aluminum tube

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Fig. 6. Light stripe points on image plane

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Fig. 7. Light stripe points in 3D space

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Table 1. Parameter calibration results of camera model

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Table 1. Parameter calibration results of camera model

Parameter	Vision sensor camera	Auxiliary camera
Intrinsic matrix	A_l= $[\begin{array}{l} 2401.9 & 0 & 1235.7 \\ 0 & 2401.8 & 1038.7 \\ 0 & 0 & 1 \end{array}]$	A_r= $[\begin{array}{l} 2372.3 & 0 & 1231 \\ 0 & 2372.7 & 1059.3 \\ 0 & 0 & 1 \end{array}]$
Distortion coefficients	k_l1=-0.12 k_l2=0.14k_l3=3.1×10^-4k_l4=1.2×10^-5	k_r1=-0.12 k_r2=0.14 k_r3=3.5×10^-4k_r4=-2.9×10^-4
Rotation matrix	R₀= $[\begin{array}{l} 0.9966 & 0.0226 & - 0.0785 \\ - 0.0230 & 0.9997 & - 3.7 \times 10^{- 3} \\ 0.0784 & 5.5 \times 10^{- 3} & 0.9969 \end{array}]$
Translation vector	T₀=[ $\begin{array}{l} 82.9265 & - 10.1160 & 39.0446 \end{array}$ ]^T

Table 2. Parameter calibration results of distortion correction mode

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Table 2. Parameter calibration results of distortion correction mode

Parameter of distortion correction model	Initial value	Optimal value
Direction of glass tube axis	r_axis=[ $\begin{array}{l} 0 & 0 & 1 \end{array}$ ]^T	r_axis=[ $\begin{array}{l} 0.1748 & 0.9782 & 0.1117 \end{array}$ ]^T
One point on glass tube axis	M=[ $\begin{array}{l} 0 & 0 & 1 \end{array}$ ]^T	M=[ $\begin{array}{l} - 0.0485 & 7.8 \times 10^{- 3} & 1 \end{array}$ ]^T
Radius of cylinder formed by inner surface /mm	d=30	d=29.9257
Radius of cylinder formed by outer surface /mm	D=32	D=31.7866

Table 3. Results of repeatability measurementmm
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Table 3. Results of repeatability measurementmm
Measurement number 1 2 3 4 5 6 7 8 9 10
Measurement value 288.210 288.271 288.257 288.200 288.269 288.339 288.324 288.230 288.305 288.288
Average value 288.270
Standard deviation 0.047

Table 4. Experimental measurement resultsmm
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Table 4. Experimental measurement resultsmm
Picture number 1 2 3 4 5 6 7 8 9 10
Measurement value 288.20 288.28 288.34 288.24 288.31 288.21 288.29 288.33 288.25 288.27
Absolute error 0.30 0.22 0.16 0.26 0.19 0.29 0.21 0.17 0.25 0.23
Root mean square error 0.23

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Junhua Sun, Chang Liu, Zhou Zhang. General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement[J]. Acta Optica Sinica, 2019, 39(2): 0215003

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