提高仿生复眼定位精度研究

Research on Improving the Accuracy of Bionic Compound Eye Positioning

自然界中昆虫复眼的定位属于视觉定位技术的一种,其具有的大视场、小体积、高灵敏度的特点,满足了诸多场合对定位装置的要求。参照昆虫复眼研制的新型仿生复眼系统由复眼球壳、微透镜阵列、弯月折转透镜和大面积CMOS相机等组成,为实现复眼系统定位功能,需要先完成系统标定工作。针对系统标定过程中存在的图像光斑中心定位精度不足的问题,提出了基于能量对称的光斑中心定位算法,该算法首先需要完成复眼各子眼通道成像的传感器辐射响应标定,再根据能量对称的原则提取光斑中心坐标。并对该算法的定位效果进行试验验证。为了验证改进方案对复眼系统目标点定位精度的提升效果,在复眼系统60°视场内进行目标点定位试验,试验结果表明,方案改进前后整体角度误差最大值从4.92mrad降低到4.23mrad,定位精度提升约14%,表明改进方案对复眼系统定位精度起到了较好的提升效果。

The positioning of insect compound eyes in nature was a kind of visual positioning technology.Its characteristics,such as large field of view,small volume and high sensitivity,can meet the requirements of positioning devices in many occasions.The new bionic compound eye system developed with reference to insect compound eyes consisted of a compound eye shell,a micro lens array,a meniscus lens and a large-area CMOS camera.To achieve the compound eye system positioning function,firstly the system calibration work needed to be completed.Aimed at the problem of insufficient positioning accuracy of image spot center in the process of system calibration,an algorithm of spot centralized positioning based on energy symmetry was proposed.First,the algorithm needed to complete the sensor radiation response calibration of the compound eye channel imaging,and then extract the center coordinates of the spot according to the principle of energy symmetry,and the experimental results of the algorithm's positioning effect were tested.In order to verify the improvement effect of the improved scheme on the target point positioning accuracy of the compound eye system,the target point positioning experiment was carried out in the 60°field of view of the compound eye system.The experimental results showed that the maximum angular error before and after the improvement of the scheme was reduced from 4.92 mrad to 4.23 mrad,and the positioning accuracy was improved by about 14%.It showed that the improved scheme had a better effect on the positioning accuracy of the compound eye system.