Zhou Yanmiao, Wang Xin
School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China.
Biomimetics (Basel). 2024 Dec 4;9(12):740. doi: 10.3390/biomimetics9120740.
Inspired by the biological eye movements of fish such as pipefish and sandlances, this paper presents a novel dynamic calibration method specifically for active stereo vision systems to address the challenges of active cameras with varying fields of view (FOVs). By integrating static calibration based on camera rotation angles with dynamic updates of extrinsic parameters, the method leverages relative pose adjustments between the rotation axis and cameras to update extrinsic parameters continuously in real-time. It facilitates epipolar rectification as the FOV changes, and enables precise disparity computation and accurate depth information acquisition. Based on the dynamic calibration method, we develop a two-DOF bionic active camera system including two cameras driven by motors to mimic the movement of biological eyes; this compact system has a large range of visual data. Experimental results show that the calibration method is effective, and achieves high accuracy in extrinsic parameter calculations during FOV adjustments.
受尖嘴鱼和玉筋鱼等鱼类生物眼动的启发，本文提出了一种专门针对主动立体视觉系统的新型动态校准方法，以应对具有不同视场（FOV）的主动相机所面临的挑战。通过将基于相机旋转角度的静态校准与外部参数的动态更新相结合，该方法利用旋转轴与相机之间的相对位姿调整，实时连续更新外部参数。随着视场的变化，它有助于极线校正，并能够进行精确的视差计算和准确的深度信息获取。基于这种动态校准方法，我们开发了一种两自由度仿生主动相机系统，该系统包括由电机驱动的两个相机，以模拟生物眼睛的运动；这个紧凑的系统具有大范围的视觉数据。实验结果表明，该校准方法是有效的，并且在视场调整期间的外部参数计算中实现了高精度。
