Atmospheric Disturbance Elimination Method Based on Camera System Design

Fig. 6. Raw data of experimental group and control group. (a) Experimental group of camera 1; (b) control group of camera 1; (c) experimental group of camera 2; (d) control group of camera 2

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Table 1. Camera calibration results

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Table 1. Camera calibration results

Camera	Distortion center (u₀,v₀) /pixel	Lens distortion (k₁,k₂,k₃,p₁,p₂) /%
Camera 1	(454.4, 974.4)	(-5.97×10^-3, 7.93×10^-2, -4.68×10^-2, 1.96×10^-2, -2.65×10^-4)
Camera 2	(399.9, 969.7)	(8.33×10^-3, -2.35×10^-2, -6.87×10^-2, 4.77×10^-3, -3.53×10^-4)

Table 2. Pose parameters of calibration plate with planar mirror resolving
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Table 2. Pose parameters of calibration plate with planar mirror resolving
Camera (A_x,A_y,A_z) /rad (T_x,T_y,T_z)
Camera 1 (1.551, 0.095, 0.246) (-19.053,70.374,1.201)
Camera 2 (-0.115, 0.149, -1.577) (43.081,-19.101,2.527)

Table 3. Calculated pose parameters of control group
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Table 3. Calculated pose parameters of control group
Camera (A_x,A_y,A_z) /rad (T_x,T_y,T_z)
Camera 1 (-1.515,-0.055,0.047) (-99.702,179.014,860.905)
Camera 2 (-1.524,0.202,-0.049) (-0.493,-121.131,934.423)

Table 4. Pose parameters calculated from experimental group data
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Table 4. Pose parameters calculated from experimental group data
Camera (A_x,A_y,A_z) /rad (T_x,T_y,T_z)
Camera 1 (-1.515,-0.055,0.048) (-95.672,169.535,833.601)
Camera 2 (-1.525,0.204,-0.048) (-0.833,-115.622,-909.013)

Table 5. Pose parameter optimization results calculated from experimental group data
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Table 5. Pose parameter optimization results calculated from experimental group data
Camera (A_x,A_y,A_z) /rad (T_x,T_y,T_z)
Camera 1 (-1.515,-0.054,0.048) (-99.082,178.890,859.223)
Camera 2 (-1.524,0.203,-0.048) (-0.603,-120.542,929.835)

Table 6. Comparison of initial solution results and optimization results of experimental group with results of control group
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Table 6. Comparison of initial solution results and optimization results of experimental group with results of control group
Data (A_x,A_y,A_z) /(°) Distance error /%
Initial data of experimental group (0.057,0.093,0.115) 2.99
Optimized data of experimental group (0.023,0.076,0.115) 0.35

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Jiaming Zhang, Cong Sun, Tao Li, Yang Shang. Atmospheric Disturbance Elimination Method Based on Camera System Design[J]. Acta Optica Sinica, 2019, 39(12): 1211002

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