Author Affiliations
1College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, Hunan 410073, China2Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha, Hunan 410073, Chinashow less
Fig. 1. Light pipe layout for “Yuan Wang” roll deformation angle measurement
Fig. 2. Atmospheric disturbance model
Fig. 3. Opposite view imaging system model
Fig. 4. Plane mirror reflection imaging system
Fig. 5. Reprojection error of camera system calibration. (a) Camera 1; (b) camera 2
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
Camera | Distortion center (u0,v0) /pixel | Lens distortion (k1,k2,k3,p1,p2) /% |
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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) |
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Table 1. Camera calibration results
Camera | (Ax,Ay,Az) /rad | (Tx,Ty,Tz) |
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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) |
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Table 2. Pose parameters of calibration plate with planar mirror resolving
Camera | (Ax,Ay,Az) /rad | (Tx,Ty,Tz) |
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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) |
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Table 3. Calculated pose parameters of control group
Camera | (Ax,Ay,Az) /rad | (Tx,Ty,Tz) |
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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) |
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Table 4. Pose parameters calculated from experimental group data
Camera | (Ax,Ay,Az) /rad | (Tx,Ty,Tz) |
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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) |
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Table 5. Pose parameter optimization results calculated from experimental group data
Data | (Ax,Ay,Az) /(°) | Distance error /% |
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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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Table 6. Comparison of initial solution results and optimization results of experimental group with results of control group