Extrinsic Parameter Calibration Method Based on Substitutable Target Sphere for Vision Sensors

Fig. 1. Design of the substitutable target sphere for vision-measurement. (a) Principle of extrinsic parameters calibration; (b) design of the substitutable target sphere for vision measurement

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Fig. 2. Influence of different factors on uncertainty measurement. (a) Extraction error; (b) number of common points; (c) distribution distance

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Fig. 3. Photo of experimental system

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Fig. 4. Verification of experimental results. (a) Simulation result; (b) experimental result

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Table 1. Intrinsic parameters of cameras
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Table 1. Intrinsic parameters of cameras
Parameter f_x f_y u₀ v₀ k₁ k₂ p₁ p₂
Leftcamera /mm 4761.3549 4761.5854 1693.7649 1231.7393 -0.079333 0.084597 0.000853 0.000337
Rightcamera /mm 4761.3940 4762.2236 1689.2218 1258.8938 -0.082652 0.098534 0.000537 0.000278

Table 2. Influence of distribution format on uncertainty
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Table 2. Influence of distribution format on uncertainty
Distribution format “L” Circle Sudoku
M_c /mm 0.5838 0.4140 0.3848

Table 3. Influence of distribution in different heights on uncertainty
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Table 3. Influence of distribution in different heights on uncertainty
Condition Distribution in the same height Distribution in three heights Distribution in six heights
M_c /mm 0.3848 0.3481 0.3405

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Jiahui Song, Yongjie Ren, Shourui Yang, Shibin Yin, Yin Guo, Shenghua Ye. Extrinsic Parameter Calibration Method Based on Substitutable Target Sphere for Vision Sensors[J]. Acta Optica Sinica, 2017, 37(9): 0915003

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