Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras

Duo Zhou; Peng Wang; Changku Sun; Meihan Dong; Luhua Fu

doi:10.3788/AOS202141.1115001

Acta Optica Sinica, Volume. 41, Issue 11, 1115001(2021)

Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras

Duo Zhou¹, Peng Wang^1,2、*, Changku Sun¹, Meihan Dong¹, and Luhua Fu^1,2

Author Affiliations

¹State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China

²Science and Technology on Electro-Optic Control Laboratory, Luoyang, Henan 471009, China

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Figures & Tables(10)

Fig. 1. Model of 1P2C vision measurement system

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Fig. 2. Parameter calibration and optimization process of 1P2C vision system

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Fig. 3. Experimental equipment of 1P2C system

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Fig. 4. 1P2C system calibration image target. (a) Plane target with identification; (b) paper target

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Fig. 5. Fringe images collected at target location. (a) Longitudinal fringe pattern of left camera; (b) lateral fringe pattern of left camera; (c) longitudinal fringe image of right camera; (d) lateral fringe image of right camera

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Fig. 6. Image coordinates of homonymic point of projector and left and right cameras

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Fig. 7. Statistical results of deviation distance between coordinate of characteristic point and corresponding polar line. (a) Unoptimized new projector model; (b) globally optimized traditional projector model; (c) globally optimized new projector model

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Fig. 8. Standard gauges used in verification experiments

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Fig. 9. Comparison of fitting plane errors of different stereo vision measurement schemes. (a) Traditional binocular vision; (b) new projector models; (c) optimized conventional projector models; (d) new optimized projector model

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Table 1. Comparison of system parameters before and after optimization

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Table 1. Comparison of system parameters before and after optimization

Parameter	B		k		ω		T
Parameter	Before	After	Before	After	Before	After	Before	After
Left camera	$[\begin{array}{l} 1680.92 \\ 1680.41 \\ 633.15 \\ 516.35 \end{array}]$	-	$[\begin{array}{l} - 0.054 \\ 0.107 \\ - 0.001 \\ - 0.003 \end{array}]$	-	$[\begin{array}{l} 0.264 \\ 0.197 \\ 0.024 \end{array}]$	$[\begin{array}{l} 0.245 \\ 0.196 \\ 0.022 \end{array}]$	$[\begin{array}{l} 107.01 \\ 3.06 \\ - 12.35 \end{array}]$	$[\begin{array}{l} 110.05 \\ 3.04 \\ 1.73 \end{array}]$
Right camera	$[\begin{array}{l} 1678.97 \\ 1680.72 \\ 635.00 \\ 516.45 \end{array}]$	-	$[\begin{array}{l} - 0.055 \\ 0.104 \\ - 0.001 \\ - 0.002 \end{array}]$	-	$[\begin{array}{l} 0.267 \\ - 0.187 \\ - 0.022 \end{array}]$	$[\begin{array}{l} 0.246 \\ - 0.190 \\ - 0.020 \end{array}]$	$[\begin{array}{l} - 70.88 \\ 2.56 \\ - 21.49 \end{array}]$	$[\begin{array}{l} - 72.09 \\ 3.30 \\ - 9.22 \end{array}]$
Projector	$[\begin{array}{l} 2336.48 \\ 2334.51 \\ 972.78 \\ 1216.83 \end{array}]$	$[\begin{array}{l} 2257.90 \\ 2253.08 \\ 928.00 \\ 1150.92 \end{array}]$	$[\begin{array}{l} - 0.079 \\ 0.163 \\ - 0.001 \\ 0.001 \\ 0.025 \\ 0.019 \end{array}]$	$[\begin{array}{l} - 0.054 \\ 0.169 \\ - 0.004 \\ 0.002 \\ 0.017 \\ 0.034 \end{array}]$	000	-	000	-

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Duo Zhou, Peng Wang, Changku Sun, Meihan Dong, Luhua Fu. Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras[J]. Acta Optica Sinica, 2021, 41(11): 1115001

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Paper Information

Category: Machine Vision

Received: Sep. 14, 2020

Accepted: Jan. 6, 2021

Published Online: Jun. 7, 2021

The Author Email: Wang Peng (wang_peng@tju.edu.cn)

DOI:10.3788/AOS202141.1115001

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