A Novel Measurement System Based on Binocular Fisheye Vision and its Application in Dynamic Environment

This paper describes the development of a novel measurement system of calculating the three-dimensional(3D) coordinates of a target with image information taken from stereo fisheye cameras. The system has the characteristics of high precision, wide of view, long-distance control, dynamic angles compensation and high frame rate measurement. In order to improve the robustness and precision of the system, a detailed uncertainty analysis of the spatial positioning was made. Moreover, a novel method named Dynamic Angles Compensation Method (DACM) is proposed for first time to complete spatial position measurement in the dynamic environment by angles compensation. This method uses a tilt angle sensor that is installed in the birocular measurement system horizontally to calculate the pitch and roll angles of the measurement system, which is the foundation for calculating the conversion equation to compensate the measurement coordinates error caused by the dynamic environment. Using real data acquired by equipment, we performed experiments covering all the necessary stages to obtain a high-performance stereo fisheye vision system. The validity and accuracy of the proposed method are demonstrated with the statistical analyses of the experimental results.