General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement

Junhua Sun; Chang Liu; Zhou Zhang

doi:10.3788/AOS201939.0215003

Journals >Acta Optica Sinica >Volume 39 >Issue 2 >Page 0215003 > Article

Acta Optica Sinica
Vol. 39, Issue 2, 0215003 (2019)

General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement

Junhua Sun^*, Chang Liu, and Zhou Zhang

Author Affiliations

School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China

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DOI: 10.3788/AOS201939.0215003 Cite this Article Set citation alerts

Junhua Sun, Chang Liu, Zhou Zhang. General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement[J]. Acta Optica Sinica, 2019, 39(2): 0215003 Copy Citation Text

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Fig. 1. Schematic of general distortion correction model of omnidirectional structured-light vision measurement

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$Two non-coplanar refraction planes. (a) Refraction at Q1; (b) refraction at Q0$

Fig. 2. Two non-coplanar refraction planes. (a) Refraction at Q1; (b) refraction at Q0

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Fig. 3. Experimental devices. (a) Omnidirectional structural-light vision measurement system; (b) calibration devices

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Fig. 4. Image of calibration board. (a) Captured by vision sensor camera; (b) captured by auxiliary one

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Fig. 5. Measurement device for internal diameter of aluminum tube

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Fig. 6. Light stripe points on image plane

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Fig. 7. Light stripe points in 3D space

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Parameter	Vision sensor camera	Auxiliary camera
Intrinsic matrix	A_l= $[\begin{array}{l} 2401.9 & 0 & 1235.7 \\ 0 & 2401.8 & 1038.7 \\ 0 & 0 & 1 \end{array}]$	A_r= $[\begin{array}{l} 2372.3 & 0 & 1231 \\ 0 & 2372.7 & 1059.3 \\ 0 & 0 & 1 \end{array}]$
Distortion coefficients	k_l1=-0.12 k_l2=0.14k_l3=3.1×10^-4k_l4=1.2×10^-5	k_r1=-0.12 k_r2=0.14 k_r3=3.5×10^-4k_r4=-2.9×10^-4
Rotation matrix	R₀= $[\begin{array}{l} 0.9966 & 0.0226 & - 0.0785 \\ - 0.0230 & 0.9997 & - 3.7 \times 10^{- 3} \\ 0.0784 & 5.5 \times 10^{- 3} & 0.9969 \end{array}]$
Translation vector	T₀=[ $\begin{array}{l} 82.9265 & - 10.1160 & 39.0446 \end{array}$ ]^T

Table 1. Parameter calibration results of camera model

Parameter of distortion correction model	Initial value	Optimal value
Direction of glass tube axis	r_axis=[ $\begin{array}{l} 0 & 0 & 1 \end{array}$ ]^T	r_axis=[ $\begin{array}{l} 0.1748 & 0.9782 & 0.1117 \end{array}$ ]^T
One point on glass tube axis	M=[ $\begin{array}{l} 0 & 0 & 1 \end{array}$ ]^T	M=[ $\begin{array}{l} - 0.0485 & 7.8 \times 10^{- 3} & 1 \end{array}$ ]^T
Radius of cylinder formed by inner surface /mm	d=30	d=29.9257
Radius of cylinder formed by outer surface /mm	D=32	D=31.7866

Table 2. Parameter calibration results of distortion correction mode

Measurement number	1	2	3	4	5	6	7	8	9	10
Measurement value	288.210	288.271	288.257	288.200	288.269	288.339	288.324	288.230	288.305	288.288
Average value	288.270
Standard deviation	0.047

Table 3. Results of repeatability measurementmm

Picture number	1	2	3	4	5	6	7	8	9	10
Measurement value	288.20	288.28	288.34	288.24	288.31	288.21	288.29	288.33	288.25	288.27
Absolute error	0.30	0.22	0.16	0.26	0.19	0.29	0.21	0.17	0.25	0.23
Root mean square error	0.23

Table 4. Experimental measurement resultsmm

Junhua Sun, Chang Liu, Zhou Zhang. General Distortion Correction Model of Omnidirectional Structured-Light Vision Measurement[J]. Acta Optica Sinica, 2019, 39(2): 0215003

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