Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras

Duo Zhou; Peng Wang; Changku Sun; Meihan Dong; Luhua Fu

doi:10.3788/AOS202141.1115001

Journals >Acta Optica Sinica >Volume 41 >Issue 11 >Page 1115001 > Article

Acta Optica Sinica
Vol. 41, Issue 11, 1115001 (2021)

Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras

Duo Zhou¹, Peng Wang^1、2、*, Changku Sun¹, Meihan Dong¹, and Luhua Fu^1、2

Author Affiliations

¹State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China

²Science and Technology on Electro-Optic Control Laboratory, Luoyang, Henan 471009, China

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DOI: 10.3788/AOS202141.1115001 Cite this Article Set citation alerts

Duo Zhou, Peng Wang, Changku Sun, Meihan Dong, Luhua Fu. Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras[J]. Acta Optica Sinica, 2021, 41(11): 1115001 Copy Citation Text

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Fig. 1. Model of 1P2C vision measurement system

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Fig. 2. Parameter calibration and optimization process of 1P2C vision system

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Fig. 3. Experimental equipment of 1P2C system

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Fig. 4. 1P2C system calibration image target. (a) Plane target with identification; (b) paper target

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Fig. 5. Fringe images collected at target location. (a) Longitudinal fringe pattern of left camera; (b) lateral fringe pattern of left camera; (c) longitudinal fringe image of right camera; (d) lateral fringe image of right camera

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Fig. 6. Image coordinates of homonymic point of projector and left and right cameras

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Fig. 7. Statistical results of deviation distance between coordinate of characteristic point and corresponding polar line. (a) Unoptimized new projector model; (b) globally optimized traditional projector model; (c) globally optimized new projector model

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Fig. 8. Standard gauges used in verification experiments

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Fig. 9. Comparison of fitting plane errors of different stereo vision measurement schemes. (a) Traditional binocular vision; (b) new projector models; (c) optimized conventional projector models; (d) new optimized projector model

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Parameter	B		k		ω		T
Parameter	Before	After	Before	After	Before	After	Before	After
Left camera	$[\begin{array}{l} 1680.92 \\ 1680.41 \\ 633.15 \\ 516.35 \end{array}]$	-	$[\begin{array}{l} - 0.054 \\ 0.107 \\ - 0.001 \\ - 0.003 \end{array}]$	-	$[\begin{array}{l} 0.264 \\ 0.197 \\ 0.024 \end{array}]$	$[\begin{array}{l} 0.245 \\ 0.196 \\ 0.022 \end{array}]$	$[\begin{array}{l} 107.01 \\ 3.06 \\ - 12.35 \end{array}]$	$[\begin{array}{l} 110.05 \\ 3.04 \\ 1.73 \end{array}]$
Right camera	$[\begin{array}{l} 1678.97 \\ 1680.72 \\ 635.00 \\ 516.45 \end{array}]$	-	$[\begin{array}{l} - 0.055 \\ 0.104 \\ - 0.001 \\ - 0.002 \end{array}]$	-	$[\begin{array}{l} 0.267 \\ - 0.187 \\ - 0.022 \end{array}]$	$[\begin{array}{l} 0.246 \\ - 0.190 \\ - 0.020 \end{array}]$	$[\begin{array}{l} - 70.88 \\ 2.56 \\ - 21.49 \end{array}]$	$[\begin{array}{l} - 72.09 \\ 3.30 \\ - 9.22 \end{array}]$
Projector	$[\begin{array}{l} 2336.48 \\ 2334.51 \\ 972.78 \\ 1216.83 \end{array}]$	$[\begin{array}{l} 2257.90 \\ 2253.08 \\ 928.00 \\ 1150.92 \end{array}]$	$[\begin{array}{l} - 0.079 \\ 0.163 \\ - 0.001 \\ 0.001 \\ 0.025 \\ 0.019 \end{array}]$	$[\begin{array}{l} - 0.054 \\ 0.169 \\ - 0.004 \\ 0.002 \\ 0.017 \\ 0.034 \end{array}]$	000	-	000	-

Table 1. Comparison of system parameters before and after optimization

Duo Zhou, Peng Wang, Changku Sun, Meihan Dong, Luhua Fu. Calibration Method for Trinocular Stereovision System Comprising Projector and Dual Cameras[J]. Acta Optica Sinica, 2021, 41(11): 1115001

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