Open AccessParallel feature based calibration method for a trinocular vision sensor
Author(s) -
Mingwei Shao,
Mengjie Hu
Publication year - 2020
Publication title -
optics express
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.394
H-Index - 271
ISSN - 1094-4087
DOI - 10.1364/oe.393012
Subject(s) - computer vision , artificial intelligence , feature (linguistics) , calibration , essential matrix , distortion (music) , computer science , fundamental matrix (linear differential equation) , singular value decomposition , rotation (mathematics) , rotation matrix , line (geometry) , translation (biology) , machine vision , point (geometry) , mathematics , physics , geometry , eigenvalues and eigenvectors , symmetric matrix , philosophy , state transition matrix , mathematical analysis , amplifier , computer network , linguistics , chemistry , bandwidth (computing) , biochemistry , quantum mechanics , statistics , messenger rna , gene
In this paper, a new method to calibrate a trinocular vision sensor is presented. A planar target with several parallel lines is utilized. The trifocal tensor of three image planes can be calculated out according to line correspondences. Compatible essential matrix between each two cameras can be obtained. Then, rotation matrix and translation matrix can be deduced base on singular value decomposition of their corresponding essential matrix. In our proposed calibration method, image rectification is carried out to remove perspective distortion. As the feature utilized is straight line, precise point to point correspondence is not necessary. Experimental results show that our proposed calibration method can obtain precise results. Moreover, the trifocal tensor can also give a strict constraint for feature matching as descripted in our previous work. Root mean square error of measured distances is 0.029 mm with regards to the view field of about 250×250 mm. As parallel feature exists widely in natural scene, our calibration method also provides a new approach for self-calibration of a trinocular vision sensor.