A trinocular vision measurement method of visible cameras with wide field of view

An Shu; Haodong Pei; Yunmeng Liu; Huixian Duan

doi:10.1117/12.2580489

7 October 2020 A trinocular vision measurement method of visible cameras with wide field of view

An Shu, Haodong Pei, Yunmeng Liu, Huixian Duan

Proceedings Volume 11571, Optics Frontier Online 2020: Optics Imaging and Display; 115710Z (2020) https://doi.org/10.1117/12.2580489
Event: Optics Frontiers Online 2020: Optics Imaging and Display (OFO-1), 2020, Shanghai, China

Abstract

In this paper, a trinocular vision measurement method of visible cameras with wide field of view is proposed for the limitations of binocular stereo vision technology, such as blind spot in some areas with large measuring angles, mismatching of feature points location and limited field of view. Firstly, three visible light cameras arranged in an equilateral triangle arrangement are used to obtain images with a field of view of 60°×60°. Then, the measurement method based on trinocular stereo vision is researched: FAST algorithm is used to detect the feature points of the three images and the method of tri-crossing polar line constraint is used to match the feature points. Then the RANSAC method is used to calculate the position and attitude with the world coordinate system. After all, the proposed method is demonstrated by some experimental results. This method provides a solution for the relative pose measurement of noncooperative target in complex scenes/sparse features, and the problem of high matching rate based on image similarity matching in binocular stereo vision measurement can be avoided by using the tri-crossing polar line constraint, thus higher pose resolution accuracy can be obtained.

Citation Download Citation

An Shu, Haodong Pei, Yunmeng Liu, and Huixian Duan "A trinocular vision measurement method of visible cameras with wide field of view", Proc. SPIE 11571, Optics Frontier Online 2020: Optics Imaging and Display, 115710Z (7 October 2020); https://doi.org/10.1117/12.2580489

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