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Journals >
Acta Optica Sinica >
Volume 38 >
Issue 11 >
Page 1115005 > Article
Acta Optica Sinica
Vol. 38, Issue 11, 1115005 (2018)
Analysis of Attitude Calibration Precision of P4P Camera
Fan Zhu
1、2、*
, Fangsu Yu
2
, Yiming Wu
2
, and Chong Hao
1、2
Author Affiliations
1
University of Chinese Academy of Sciences, Beijing 100049, China
2
Research Laboratory of Optical Orientation and Measurement Technology, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, Shaanxi 710119, China
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DOI:
10.3788/AOS201838.1115005
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Fan Zhu, Fangsu Yu, Yiming Wu, Chong Hao. Analysis of Attitude Calibration Precision of P4P Camera[J]. Acta Optica Sinica, 2018, 38(11): 1115005
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Fig. 1.
Definition of coordinate system. (a) Camera coordinate system; (b) target coordinate system
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Fig. 2.
Experimental platform
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Serial
number
Item
Value
1
Coordinate of feature point 1 /mm
(-225,-225,0)
2
Coordinate of feature point 2 /mm
(225,-225,0)
3
Coordinate of feature point 3 /mm
(225,225,0)
4
Coordinate of feature point 4 /mm
(-225,225,0)
5
Focal length /mm
35
6
Pixel size /(μm×μm)
5.5×5.5
7
(
C
X
,
C
Y
) /pixel
(1024.5,1024.5)
8
Resolution of camera /(pixel×pixel)
4096×4096
9
(
T
X
,
T
Y
,
T
Z
) /mm
(100,100,2000)
Table 1.
Input of system parameters
Serial number
Item
Value
1
Errors of image orientations Δ
x
n
i
and Δ
y
ni
/pixel
0.3
2
Aberration Δ
x
E
i
and Δ
y
Ei
/%
0.1
3
Error of principal point Δ
C
x
and Δ
C
y
/pixel
10
4
Error of focal length Δ
F
x
and Δ
F
y
91
5
Errors of locations of feature points Δ
X
i
and Δ
Y
i
/mm
0.1
Table 2.
Estimate values of error sources
Error
Attitude
A
Z
0
5
5
-5
-5
30
30
-30
-30
A
X
0
3
-3
3
-3
5
-5
5
-5
A
Y
0
3
3
-3
-3
5
5
-5
-5
Δ
A
Z
|
n
0.0200
0.0201
0.0200
0.0202
0.0200
0.0301
0.0301
0.0305
0.0302
Δ
A
Z
|
E
0
0
0
0
0
0
0
0
0
Δ
A
Z
|
C
0
-0.0047
-0.0047
0.0047
0.0047
-0.0079
-0.0079
0.0079
0.0079
Δ
A
Z
|
F
0
0
0
0
0
0
0
0
0
Δ
A
Z
|
D
0.0106
0.0107
0.0106
0.0107
0.0106
0.0109
0.0109
0.0111
0.0110
Δ
A
Z
0.0226
0.0233
0.0231
0.0233
0.0231
0.0330
0.0330
0.0334
0.0331
Table 3.
Error items(°)
Serial
number
A
X
0
A
Y
0
A
Z
0
Measuring
value
A
Z
Δ
A
Z
1
0
0
0
0
0
2
3
3
5
5.021
0.021
3
-3
3
5
4.982
0.018
4
3
-3
-5
-5.019
0.019
5
-3
-3
-5
-4.980
0.020
6
5
5
30
30.029
0.029
7
-5
5
30
29.972
0.028
8
5
-5
-30
-30.025
0.025
9
-5
-5
-30
-29.972
0.028
Table 4.
Results of measurements(°)
Abstract
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Fan Zhu, Fangsu Yu, Yiming Wu, Chong Hao. Analysis of Attitude Calibration Precision of P4P Camera[J]. Acta Optica Sinica, 2018, 38(11): 1115005
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Paper Information
Category: Machine Vision
Received: May. 3, 2018
Accepted: Jul. 12, 2018
Published Online: Nov. 27, 2018
The Author Email:
DOI:
10.3788/AOS201838.1115005
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