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Abstract: The
mathematical model of the binocular vision sensor is analyzed. A
flexible new approach to easily determine the geometric parameters of
binocular vision sensor with one dimensional target of unknown motion is
presented. The technique only requires the sensor to observe a
one-dimensional target shown at a few (at least four) different
orientations after the sensor has been fixed. All the accurate
geometrical parameters of the binocular vision sensor are estimated by
nonlinear minimization of the cost function relative to the distance
error affected by the measurement errors of the three dimensional
coordinates of the spatial point and the distance errors between the
projective point and the observed points of the same spatial point. The
proposed method is simple and need not to provide initial parameters.
Moreover, the calibration status of the binocular vision sensor is
identical to that of the work status. The experimental results prove
that this method is practical and is accurate to within 0.03 mm when the
measuring range is about 200 mm×200 mm.
Key words: Binocular
vision One dimensional target Calibration Essential matrix
CLC No: TP391
国家自然科学基金资助项目(50375012). Received 20050603,
received in revised form 20051215
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