Details

Autor(en) / Beteiligte

• Liu, Yang
• Zhou, Fuqiang
• Zhang, Wanning
• Yang, Lemiao
• Guo, Zhanshe
• Tan, Haishu

Titel

Flexible Calibration Method for A Quad-directional Stereo Vision Sensor Based on Unconstraint 3D Target

Ist Teil von

• IEEE sensors journal, 2023-12, p.1-1

Ort / Verlag

IEEE

Erscheinungsjahr

2023

Quelle

IEEE/IET Electronic Library (IEL)

Beschreibungen/Notizen

• Multi-directional stereo vision sensors have been paid increasing attention in the fields of environment perception and 3D reconstruction attributed to their advantage of wide field of view (FOV). Vision sensor setup requires the parameters to be calibrated accurately, which remains a challenging problem because of the discontinuity in the camera field. This paper proposes a flexible calibration method using an unconstrained 3D target for a quad-directional stereo vision sensor (QSVS) composed of a single camera and a dual mirror pyramid. We build the measurement models of the local virtual binocular structures and the global virtual multi-camera based on the optical properties of the catadioptric elements to reduce the calibration steps of the mirror poses. On this basis, this paper resolves the following three problems. First, the unique intrinsic parameters of the virtual multi-camera are obtained through the intrinsic calibration of the actual camera. Second, based on the proposed sorting algorithm of the feature points, we can determine the correspondence between the spatial feature points and the mirrored 2D points in the global calibration image. Third, we can determine the global structure parameters of the QSVS from a single calibration image based on the designed unconstrained 3D target with 6-DOF. And we optimize the calibration parameters by flexibly adjusting the target pose. Simulation and physical experiments are conducted to demonstrate the performance of the proposed method. This method also provides a new way to calibrate the miniaturized multi-camera vision systems and omnidirectional vision sensors without an overlapping FOV.