Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a ...Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.展开更多
In order to quickly and efficiently get the information of the bottom of the shoe pattern and spraying trajectory, the paper proposes a method based on binocular stereo vision. After acquiring target image, edge detec...In order to quickly and efficiently get the information of the bottom of the shoe pattern and spraying trajectory, the paper proposes a method based on binocular stereo vision. After acquiring target image, edge detection based on the canny algorithm, the paper begins stereo matching based on area and characteristics of algorithm. To eliminate false matching points, the paper uses the principle of polar geometry in computer vision. For the purpose of gaining the 3D point cloud of spraying curve, the paper adopts the principle of binocular stereo vision 3D measurement, and then carries on cubic spline curve fitting. By HALCON image processing software programming, it proves the feasibility and effectiveness of the method展开更多
In this paper,an innovative 3D motion parameters estimation method from stereo image sequences based on infrared(IR) reflective markers is presented.It was assumed that two high speed CCD cameras had been calibrated p...In this paper,an innovative 3D motion parameters estimation method from stereo image sequences based on infrared(IR) reflective markers is presented.It was assumed that two high speed CCD cameras had been calibrated previously.The method consists of the following steps:1) the coordinate of several markers and depth map for each stereo pair was determined from the sequences of stereo images by relations of markers' coordinate the correspondence between markers was established,2) the 3D motion parameters of the target was computed based upon the matched markers' coordinate,and 3) translated 3D motion parameters estimation into the problem of least square according to the movement model of the object to be measured.Without using line,curve or corner correspondence,this method can calculate the depth of these markers feature easily and quickly in contrast to traditional approaches.The two CCD cameras work on 200 f/s,and each processing cost time is about 3 ms.It was found that,by using several markers and a large number of stereo images,this method can improve the computational speed,robustness and numerical accuracy of the motion parameters in comparison with traditional methods.The virtual simulation experiment was conducted using synthesized stereo image sequences based on 6-DOF motion platform and the experimental results proved the validity of our approach and showed that the translation and rotation precision is up to 0.1 mm and 0.1°.展开更多
A novel virtual four-ocular stereo measurement system based on single high speed camera is proposed for measuring double beating wings of a high speed flapping insect. The principle of virtual monocular system consist...A novel virtual four-ocular stereo measurement system based on single high speed camera is proposed for measuring double beating wings of a high speed flapping insect. The principle of virtual monocular system consisting of a few planar mirrors and a single high speed camera is introduced. The stereo vision measurement principle based on optic triangulation is explained. The wing kinematics parameters are measured. Results show that this virtual stereo system not only decreases system cost extremely but also is effective to insect motion measurement.展开更多
文摘Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.
文摘In order to quickly and efficiently get the information of the bottom of the shoe pattern and spraying trajectory, the paper proposes a method based on binocular stereo vision. After acquiring target image, edge detection based on the canny algorithm, the paper begins stereo matching based on area and characteristics of algorithm. To eliminate false matching points, the paper uses the principle of polar geometry in computer vision. For the purpose of gaining the 3D point cloud of spraying curve, the paper adopts the principle of binocular stereo vision 3D measurement, and then carries on cubic spline curve fitting. By HALCON image processing software programming, it proves the feasibility and effectiveness of the method
基金Sponsored by the National Natural Science Foundation of China(Grant No. 50275040)
文摘In this paper,an innovative 3D motion parameters estimation method from stereo image sequences based on infrared(IR) reflective markers is presented.It was assumed that two high speed CCD cameras had been calibrated previously.The method consists of the following steps:1) the coordinate of several markers and depth map for each stereo pair was determined from the sequences of stereo images by relations of markers' coordinate the correspondence between markers was established,2) the 3D motion parameters of the target was computed based upon the matched markers' coordinate,and 3) translated 3D motion parameters estimation into the problem of least square according to the movement model of the object to be measured.Without using line,curve or corner correspondence,this method can calculate the depth of these markers feature easily and quickly in contrast to traditional approaches.The two CCD cameras work on 200 f/s,and each processing cost time is about 3 ms.It was found that,by using several markers and a large number of stereo images,this method can improve the computational speed,robustness and numerical accuracy of the motion parameters in comparison with traditional methods.The virtual simulation experiment was conducted using synthesized stereo image sequences based on 6-DOF motion platform and the experimental results proved the validity of our approach and showed that the translation and rotation precision is up to 0.1 mm and 0.1°.
基金The work was supported by the National Science Fund for Distinguished Young Scholars of China under Grant No. 50125518.
文摘A novel virtual four-ocular stereo measurement system based on single high speed camera is proposed for measuring double beating wings of a high speed flapping insect. The principle of virtual monocular system consisting of a few planar mirrors and a single high speed camera is introduced. The stereo vision measurement principle based on optic triangulation is explained. The wing kinematics parameters are measured. Results show that this virtual stereo system not only decreases system cost extremely but also is effective to insect motion measurement.
