Chinese Optics, Volume. 17, Issue 3, 605(2024)
Omnidirectional spatial monocular vision indoor localization measurement based on a two-degree-of-freedom rotary platform
Fig. 4. Schematic diagram for the calibration of the rotating axis parameters
Fig. 6. The connection device between wMPS and circular calibration plate
Fig. 8. Fitting result after transforming the corner point pose data to a coordinate system
Fig. 9. Circle fitting result in the vertical direction at the initial position
Fig. 11. Comparison of target point paths for wMPS, binocular and this experimental method
Fig. 12. Distance error results between target points at each neighboring location
Fig. 13. Comparison of the measurement method proposed in this paper with the wMPS measurement system for the position error results of each location target point
Table 1. Fitting of rotary platform parameters
View tableView in ArticleTable 1. Fitting of rotary platform parameters
Rotor parameters Experimental results/mm Error/mm Direction of vector (−0.0161, 0.9998,−0.0110) 0.24 Rotor position (−45.0081, −121.0576, −24.8642) 0.54 Direction of vector (−0.0347, −0.0171, −0.9993) 0.21 Rotor position (−20.4812, 111.8834, 75.6437) 0.43
Table 2. Comparison of measurement results
View tableView in ArticleTable 2. Comparison of measurement results
Location Laser ranging/mm The ranging method in this paper/mm Error/mm 1 78.50 78.81 0.31 2 166.80 167.25 0.45 3 273.40 273.76 0.36 4 403.70 403.98 0.28 5 1424.50 1424.13 0.37 6 1501.80 1501.32 0.48 7 1612.30 1611.91 0.39 8 1740.60 1740.25 0.35 9 1871.40 1871.11 0.29
Table 3. Detailed parameters of the wMPS measurement system
View tableView in ArticleTable 3. Detailed parameters of the wMPS measurement system
Content Parameter Working distance 5~25 m System measurement accuracy 10 m working area 0.25 mm 39 m working area 0.50 mm Frequency 30 Hz
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Jun WU, Hao-shuang WANG, Teng-fei SHAN, Run-xia GUO, Xiao-yu ZHANG, Jiu-sheng CHEN. Omnidirectional spatial monocular vision indoor localization measurement based on a two-degree-of-freedom rotary platform[J]. Chinese Optics, 2024, 17(3): 605
Category: Original Article
Received: Jun. 21, 2023
Accepted: --
Published Online: Jul. 31, 2024
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