Calibration of Binocular Vision Sensors Based on Unknown-Sized Elliptical Stripe Images

Abstract

Most of the existing calibration methods for binocular stereo vision sensor (BSVS) depend on a high-accuracy target with feature points that are difficult and costly to manufacture. In complex light conditions, optical filters are used for BSVS, but they affect imaging quality. Hence, the use of a high-accuracy target with certain-sized feature points for calibration is not feasible under such complex conditions. To solve these problems, a calibration method based on unknown-sized elliptical stripe images is proposed. With known intrinsic parameters, the proposed method adopts the elliptical stripes located on the parallel planes as a medium to calibrate BSVS online. In comparison with the common calibration methods, the proposed method avoids utilizing high-accuracy target with certain-sized feature points. Therefore, the proposed method is not only easy to implement but is a realistic method for the calibration of BSVS with optical filter. Changing the size of elliptical curves projected on the target solves the difficulty of applying the proposed method in different fields of view and distances. Simulative and physical experiments are conducted to validate the efficiency of the proposed method. When the field of view is approximately 400 mm × 300 mm, the proposed method can reach a calibration accuracy of 0.03 mm, which is comparable with that of Zhang’s method.

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