精确三维数据测量的双目视觉系统优化设计

Optimal design of binocular vision system for accurate 3D data measurement

针对绝缘斗臂车空间机械臂中的双目视觉系统,研究了视觉系统中两个全景相机参数的最优设计和标定问题,构造了对系统中摄像机位置、方向和镜面形状等因素进行优化配置后的模型,以获得更高的三维数据测量精度。为了构造最佳视觉系统配置,根据数据计算过程中的误差传播分析、图像像素量化精度和角度分辨率变化,推导了三维测量误差模型的解析公式。然后,将该公式用于框架优化中,能够针对不同形状的系统设置环境找到最佳系统配置。对于具有长方体三维测量区域和相机放置区域的常规情况,利用所提出的解析公式推导其系统配置的次优解,并证明了该次优解的精度趋近于其最优解。最后,在实际应用案例中将所提出方法与现有的4种经典算法进行对比分析,结果表明本文所提出方法较经典算法至少减小了17.1%的测量误差,同时算法的运行速度提高了16.7倍,能够有效提高双目测距的准确性与鲁棒性。

Aiming at the binocular vision system of the space manipulator of the insulated bucket arm vehicle,the optimal design and calibration of the parameters of two panoramic cameras in the vision system are studied in this paper,and a model is constructed after the optimal configuration of the camera position,direction and mirror shape in the system,so as to obtain higher accuracy of 3d data measurement.In order to construct the optimal configuration of the visual system,the analytical formula of the 3D measurement error model is derived according to the error propagation analysis,the quantization accuracy of image pixels and the variation of angular resolution in the process of data calculation.Then,this formula can be used in framework optimization to find the best system configuration for different shapes of system settings.For the general case with cuboid 3D measurement area and camera placement area,the suboptimal solution of system configuration is derived by using the proposed analytical formula,and the accuracy of the suboptimal solution is proved to be close to its optimal solution.Finally,the proposed method is compared with four existing classical algorithms in a practical application case.The results show that the proposed method reduces the measurement error by at least 17.1%compared to the classical algorithm,while the algorithm runs 16.7 times faster,effectively improving the accuracy and robustness of binocular distance measurement.