Bidirectional Closed Cloud Control for Stereo Vision Measurement Based on Multi-Source Data

Guiyang Zhang; Ju Huo; Ming Yang; Muyao Xue

doi:10.3788/AOS202040.1915002

Acta Optica Sinica, Volume. 40, Issue 19, 1915002(2020)

Bidirectional Closed Cloud Control for Stereo Vision Measurement Based on Multi-Source Data

Guiyang Zhang¹, Ju Huo^2、*, Ming Yang¹, and Muyao Xue³

Author Affiliations

¹School of Astronautics, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China

²School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China

³Space Propulsion Technology Research Institute, Shanghai Academy of Spaceflight Technology, Shanghai 201109, China

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Figures & Tables(14)

Fig. 1. Relationship between target plane and viewing angle of optical axis

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Fig. 2. Diagram of multi-source feature data fusion structure

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Fig. 3. Bidirectional closed mode of visual measurement

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Fig. 4. Plane point set distribution for large field of view simulation

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Fig. 5. Pose measurement error under different noise levels. (a) Position measurement; (b) attitude measurement

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Fig. 6. Actual measurement scene with large field of view. (a) Measuring equipment and layout; (b) enlarged view of camera and mark point

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Fig. 7. Feature information in scene

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Fig. 8. Statistical distribution of spatial point positioning reprojection errors. (a) Traditional binocular vision measurement method; (b) DLT method; (c) proposed method

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Fig. 9. Results of traditional binocular vision unidirectional measurement mode. (a) 0°; (b) 5°; (c) 10°; (d) 15°; (e) 20°; (f) 25°; (g) 30°

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Fig. 10. Results of bidirectional closed measurement mode. (a) 0°; (b) 5°; (c) 10°; (d) 15°; (e) 20°; (f) 25°; (g) 30°

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Fig. 11. Pose measurement parameter error. (a) Attitude angle error; (b) position error

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Table 1. POI coordinates in traditional measurement modeunit: mm

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Table 1. POI coordinates in traditional measurement modeunit: mm

No.	Original coordinates of simulation point			Coordinates of reconstruction point			Error
No.	X_w	Y_w	Z_w	$X_{w}^{1}$	$Y_{w}^{1}$	$Z_{w}^{1}$	Error
1#	7180	300	0	7181.40	298.35	0.20	2.173
2#	7180	3700	0	7181.57	3701.64	0.13	2.274
3#	8700	300	0	8698.74	301.82	0.24	2.227
4#	8700	3700	0	8702.00	3701.76	-0.18	2.670
Average error							2.336

Table 2. POI coordinates in closed measurement modeunit: mm

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Table 2. POI coordinates in closed measurement modeunit: mm

No.	Coordinates of reconstruction pointwith point set in II and III regions			Error	Coordinates of reconstruction pointswith point set in II, III and V regions			Error
No.	$X_{w}^{2}$	$Y_{w}^{2}$	$Z_{w}^{2}$	Error	$X_{w}^{3}$	$Y_{w}^{3}$	$Z_{w}^{3}$	Error
1#	7180.86	299.43	0.12	1.039	7180.90	299.55	0.13	1.015
2#	7179.60	3700.75	-0.05	0.851	7179.64	3700.78	0.04	0.860
3#	8699.35	300.98	0.08	1.179	8699.44	300.86	-0.10	1.031
4#	8700.81	3699.38	0.06	1.022	8700.67	3699.59	0.08	0.790
Average error				1.023				0.924

Table 3. Information data type in closed measurement mode

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Table 3. Information data type in closed measurement mode

No.	Data source	Description	Matter	Explanation
1	Total station	(N1005.4, E450.2, H16.2)	★★	Coordinate system conversion
2	4M140 MCX	2048 pixel×2048 pixel	★★★	None
3	Turntable movement	r(24.5,48.3,0.72)	★★★	Camera position recording
4	Scene characteristics	Feature.mat	★★	None
5	Obtained space information	Type(X,Y,Z)	★★★	According to area division

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Guiyang Zhang, Ju Huo, Ming Yang, Muyao Xue. Bidirectional Closed Cloud Control for Stereo Vision Measurement Based on Multi-Source Data[J]. Acta Optica Sinica, 2020, 40(19): 1915002

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Paper Information

Category: Machine Vision

Received: May. 11, 2020

Accepted: Jun. 23, 2020

Published Online: Sep. 23, 2020

The Author Email: Huo Ju (torch@hit.edu.cn)

DOI:10.3788/AOS202040.1915002

Topics

laser devices and laser physics

Lasers and Laser Optics

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laser manufacturing

Instrumentation, Measurement and Metrology