Rapid Optic Axis Calibration of Bio-vision Ranging Sensors Based on Compound Eyes

Based on the processing mechanism of optic nerve and the characteristics of visual structure of biological compound eye, a ring-shaped vision sensor based on bionic compound eye with fast distance measurement function and 31 channels is built, and a bionic multi-channel fast vision distance measurement model based on lateral inhibition neural network is established. To calibrate optic axis of ring sensors, a rapid way for optic axis calibration of muti-channel sensors based on discrete information with Gaussian distribution is proposed. The experimental results show that the relative accuracy of the left eye is increased by 20.46% and that of the right eye is increased by 9.00% in intermediate angle of view of sensor array after the calibration of optic axis of sensors. The angle measurement accuracy of more than 80% of the points in the middle evaluation area of the left and right eye is within +/- 0.60 degrees with the sensor array that use 6 degrees angle spacing. The location error of binocular real time ranging results is kept within the range of -3 mm to 10 mm under 50 mm/s velocity.