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Active-vision-based measurement plays an important role in the profile inspection study. The binocular vision, a passive vision, is employed in the active vision system to contribute the benefits of them. The laser plane is calibrated by two 2D targets without texture initially. Then, an L target with feature points is designed to construct the orthogonality object of two vectors. In order to accurately model the binocular-active-vision system, the feature points on the L target are built by two cameras and parameterized by the laser plane. Different from the optimization methods on the basis of the distance object, the laser plane is further refined by the distance-angle object. Thus, an optimization function is created considering both the norms and angles of the vectors. However, the scale of the distance is diverse from the scale of the angle. Therefore, the optimization function is enhanced by the normalization process to balance the different scales. The comparison experiments show that the binocular active vision with the normalization object of vector orthogonality achieves the decreasing distance errors of 25%, 22%, 13% and 4%, as well as the decreasing angle errors of 23%, 20%, 14% and 4%, which indicates an accurate measurement to reconstruct the object profile.

Profile measurement adopting binocular active vision with normalization object of vector orthogonality