School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
AIPARK, Zhangjiakou 075000, China.
Sensors (Basel). 2020 Sep 15;20(18):5271. doi: 10.3390/s20185271.
Three-dimensional (3D) triangulation based on active binocular vision has increasing amounts of applications in computer vision and robotics. An active binocular vision system with non-fixed cameras needs to calibrate the stereo extrinsic parameters online to perform 3D triangulation. However, the accuracy of stereo extrinsic parameters and disparity have a significant impact on 3D triangulation precision. We propose a novel eye gaze based 3D triangulation method that does not use stereo extrinsic parameters directly in order to reduce the impact. Instead, we drive both cameras to gaze at a 3D spatial point at the optical center through visual servoing. Subsequently, we can obtain the 3D coordinates of through the intersection of the two optical axes of both cameras. We have performed experiments to compare with previous disparity based work, named the integrated two-pose calibration (ITPC) method, using our robotic bionic eyes. The experiments show that our method achieves comparable results with ITPC.
基于主动双目视觉的三维（3D）三角测量在计算机视觉和机器人技术中有越来越多的应用。具有非固定相机的主动双目视觉系统需要在线校准立体外参数以执行 3D 三角测量。然而，立体外参数和视差的准确性对 3D 三角测量精度有重大影响。我们提出了一种新的基于眼睛注视的 3D 三角测量方法，该方法不直接使用立体外参数，以降低影响。相反，我们通过视觉伺服控制两个相机将注视点驱动到光学中心处的三维空间点。然后，我们可以通过两个相机的两个光轴的交点来获得该点的 3D 坐标。我们已经使用我们的机器人仿生眼进行了实验，与之前基于视差的工作（称为集成双姿态标定（ITPC）方法）进行了比较。实验表明，我们的方法与 ITPC 方法的结果相当。
