Binocular Stereo Vision Calibration Accuracy Evaluation Using Epipolar Constraint

Qingzhe Zhang; Yong Wang

doi:10.3788/LOP56.231504

Journals >Laser & Optoelectronics Progress >Volume 56 >Issue 23 >Page 231504 > Article

Laser & Optoelectronics Progress
Vol. 56, Issue 23, 231504 (2019)

Binocular Stereo Vision Calibration Accuracy Evaluation Using Epipolar Constraint

Qingzhe Zhang^* and Yong Wang

Author Affiliations

Key Laboratory of Road Construction & Equipment, Ministry of Education, Chang'an University, Xi'an, Shaanxi 710064, China

show less

DOI: 10.3788/LOP56.231504 Cite this Article Set citation alerts

Qingzhe Zhang, Yong Wang. Binocular Stereo Vision Calibration Accuracy Evaluation Using Epipolar Constraint[J]. Laser & Optoelectronics Progress, 2019, 56(23): 231504 Copy Citation Text

show less

Fig. 1. Epipolar constraint relationship

Download full size

Fig. 2. Matching relationship between measured corner points of left image and its right epipolar line

Download full size

Fig. 3. Real-time evaluation of camera calibration accuracy

Download full size

Fig. 4. Calibration poses of 20 mm chessboard

Download full size

Fig. 5. Calibration poses of 10 mm chessboard

Download full size

Calibration sample(chess board size)	Camera	f /pixel	(c₁, c_r)	k₁	k₂	p₁	p₂
1(10 mm)	LeftRight	(368.165,368.093)(373.519,372.718)	(350.178,258.085)(353.876,265.347)	0.05270.0392	-0.0217-0.0173	-0.00090.0004	-0.00060.0040
2(10 mm)	LeftRight	(371.442,371.330)(366.330,365.744)	(346.833,255.428)(354.867,265.233)	0.05390.0340	0.03010.0342	-0.0010-0.0007	-0.00090.0042
3(20 mm)	LeftRight	(362.349,362.997)(368.832,369.370)	(346.067,258.233)(353.880,266.318)	0.02730.0312	-0.0245-0.0383	0.00070.0011	0.00010.0010
4(20 mm)	LeftRight	(370.017,370.576)(371.448,371.956)	(349.697,259.817)(354.044,264.984)	0.02880.0340	-0.0363-0.0460	0.00040.0007	0.00010.0010
5(20 mm)	LeftRight	(366.331,366.959)(372.603,373.075)	(348.547,258.587)(353.470,265.876)	0.02730.0374	-0.0161-0.0404	0.00090.0009	0.00040.0011

Table 1. Results of five sets of calibration experiments

Calibration sample(chess board size)	Imageresidual /pixel	Mean absolute deviationof distance /pixel	Camerabaseline /mm	Measurementerror /mm
1(10 mm)	0.2978	0.1369	60.26	0.26
2(10 mm)	0.2635	0.1643	61.11	1.11
3(20 mm)	0.1879	0.1468	60.42	0.42
4(20 mm)	0.2079	0.1584	60.91	0.91
5(20 mm)	0.2125	0.1721	61.21	1.21

Table 2. Comparison of measurement results by two methods of camera calibration accuracy evaluation

Qingzhe Zhang, Yong Wang. Binocular Stereo Vision Calibration Accuracy Evaluation Using Epipolar Constraint[J]. Laser & Optoelectronics Progress, 2019, 56(23): 231504

Download Citation

Set citation alerts for the article

Tools

Set citation alerts for the article

Save the article for my favorites

Paper Information