Measurement error analysis of binocular stereo vision: effective guidelines for bionic eyes

被引：18

作者：

Wang, Qingbin ^{[1
,2
]}

Yin, Yingjie ^{[1
]}

Zou, Wei ^{[1
]}

Xu, De ^{[1
,2
]}

机构：

[1] Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China

[2] Univ Chinese Acad Sci, 19 Yuquan Rd, Beijing 100049, Peoples R China

来源：

IET SCIENCE MEASUREMENT & TECHNOLOGY | 2017年 / 11卷 / 07期

基金：

中国国家自然科学基金; 国家高技术研究发展计划(863计划);

关键词：

measurement errors; stereo image processing; biocybernetics; spatial variables measurement; feature extraction; measurement error analysis; binocular stereo vision; bionic eyes; active cameras; rotation angle errors; image feature extraction errors; depth measurement; calculation formula; angular velocity; DESIGN;

D O I：

10.1049/iet-smt.2016.0359

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The depth measurement error of bionic eyes consisting of two active cameras is derived by considering the eyes' rotation angle errors and image feature extraction errors. The effect factors of the depth measurement are obtained from the calculation formula of depth error. Based on the analysis of these effect factors, some effective guidelines for bionic eyes are proposed to reduce the measurement errors. The guidelines suggest keeping long baseline, observing the target as nearly as possible, controlling two active cameras with the same angular velocity and keeping the target on Z(w) axis if possible. The simulation experiments and practical experiments in bionic eyes platform validate the effectiveness of the proposed guidelines.

引用

页码：829 / 838

页数：10

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