High-Accuracy Calibration of Multi-Camera Positioning System Based on Precision Angle Reference

Qiuyu Xu; Linghui Yang; Zhiyuan Niu; Bowen Liu; Zhengji Zhang; Jigui Zhu

doi:10.3788/AOS201939.0115001

Acta Optica Sinica, Volume. 39, Issue 1, 0115001(2019)

High-Accuracy Calibration of Multi-Camera Positioning System Based on Precision Angle Reference

Qiuyu Xu^*, Linghui Yang^*, Zhiyuan Niu, Bowen Liu, Zhengji Zhang, and Jigui Zhu

National Key Laboratory of Precision Testing Techniques and Instrument, College of Precision Instrument and Optoelectronic Engineering, Tianjin University, Tianjin 300072, China

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Figures & Tables(7)

Fig. 1. Multi-camera system projection mapping model

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Fig. 2. Multi-camera system calibration model based on two-axis turntable

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Fig. 3. Schematic of multi-camera system calibration experiment. (a) Turntable calibration experiment; (b) calibration experiment of precision control field in large space

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Fig. 4. Reprojection error distributions of internal parameters of cameras. (a) Camera 1; (b) camera 2

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Table 1. Calibration results of internal parameters of cameras

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Table 1. Calibration results of internal parameters of cameras

Parameter	Camera 1	Camera 2
f /mm	3.7665	3.8045
u₀ /pixel	923.5320	948.7576
v₀ /pixel	510.6671	519.3200
k₁	-0.4059	-0.4074
k₂	0.2369	0.2401
k₃	-0.0906	-0.0944
p₁	-2.8159×10^-4	0
p₂	-2.2624×10^-4	0
Average reprojection error /pixel	0.1700	0.1598

Table 2. Calibration results of external parameters of cameras
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Table 2. Calibration results of external parameters of cameras
RT (camera 2 to camera 1) Control field Turntable
α /(°) -2.0212 -1.8867
β /(°) 30.7388 31.1378
γ /(°) -1.9993 -1.8957
T_x /mm -87.9472 -88.2148
T_y /mm -0.5636 -0.3486
T_z /mm -19.2366 -19.6598

Table 3. Multi-camera system positioning accuracy
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Table 3. Multi-camera system positioning accuracy
No. Control field Error 1 /mm Turntable Error 2 /mm
1 201.3303 1.3303 200.2301 0.2301
2 399.4483 -0.5517 400.6472 0.6472
3 600.5341 0.5341 599.3791 -0.6209
4 801.6092 1.6092 799.8802 -0.1198
5 1002.0324 2.0324 1000.9861 0.9861

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Qiuyu Xu, Linghui Yang, Zhiyuan Niu, Bowen Liu, Zhengji Zhang, Jigui Zhu. High-Accuracy Calibration of Multi-Camera Positioning System Based on Precision Angle Reference[J]. Acta Optica Sinica, 2019, 39(1): 0115001

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