A novel laser vision sensor for omnidirectional 3D measurement
A novel laser vision sensor for omnidirectional 3D measurement
复制标题
用于全向 3D 测量的新型激光视觉传感器
DOI：
10.1016/j.optlastec.2012.08.005
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发表时间：
2013-02
影响因子：
5
通讯作者：
Fuqiang Zhou, Bin Peng, Yi Cui,Yexin Wang,Haishu
中科院分区：
文献类型：
--
作者：
Fuqiang Zhou, Bin Peng, Yi Cui,Yexin Wang,Haishu
全方位成像技术与结构光视觉技术的结合为全方位三维测量提供了一种有效的解决方案。然而，现有的全方位结构光视觉传感器都是基于曲面镜构建的，如抛物面镜和圆锥面镜，这不可避免地产生两个明显的问题：首先，由于摄像机数学模型变得非线性并且传统的摄像机模型在这些情况下不再适用，因此无疑增加了摄像机校准的难度;其次，这些传感器的测量精度比传统结构光传感器差得多，因为捕获的图像严重扭曲变形。为了解决这些问题，我们开发了一种新的全向激光视觉传感器，采用平面镜代替曲面镜，使简单的传统相机模型仍然可以使用，更重要的是，测量精度可以保持在同一水平上与传统的结构光视觉。在传感器设计方面，采用传统的透视摄像机和四个等腰三角形平面反射镜组成的角锥反射镜构成全方位摄像机。此外，四台激光投影仪通过拼接的方式将结构光投射到周围场景。该传感器采用二维平面靶和准三维靶进行标定。实验结果表明，该传感器的标定和测量相对误差分别小于0.08%和0.16%。实验证明，该传感器系统能够实现高精度的全方位三维测量。
The combination of omnidirectional imaging and structured-light vision technique provides an efficient solution for omnidirectional 3D measurement. However, the existing omnidirectional structured-light vision sensors are constructed on the basis of curved mirrors, such as parabolic mirrors and conic mirrors, which inevitably generate two obvious problems: first, the difficulty of camera calibration is undoubtedly increased because the camera mathematical model becomes nonlinear and the traditional camera model is no longer applicable in those cases and second, the measurement accuracies of those sensors are far worse than those of traditional structured-light sensors since the captured images are severely warp-deformed. To solve these problems, we developed a novel omnidirectional laser vision sensor by adopting plane mirrors instead of curved mirrors so that the simple traditional camera model can still be used, and more important, the measurement accuracy can be maintained at the same level with the traditional structured-light vision. With respect to the sensor designing, the omnidirectional camera is constructed by a traditional perspective camera and a pyramid reflector, which is made up of four identical plane mirrors of isosceles triangular shape. Moreover, four laser projectors are used to project structured-light to the surrounding scene by the way of splicing. The sensor is calibrated by a 2D planar target and a quasi-3D target. The experimental results show that the relative calibration and measurement errors of the sensor are less than 0.08% and 0.16% respectively. It is proved that complete omnidirectional 3D measurement with high accuracy is feasible with the proposed sensor system.
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DOI：
10.1145/1508044.1508094
发表时间：
2008-12
期刊：
ACM SIGGRAPH ASIA 2008 courses
影响因子：
--
作者：
Jingyi Yu;L. McMillan;P. Sturm
通讯作者：
Jingyi Yu;L. McMillan;P. Sturm
DOI：
10.1117/12.471437
发表时间：
2002-09
期刊：
--
影响因子：
--
作者：
X. Su;Jiyong Zeng
通讯作者：
X. Su;Jiyong Zeng
影响因子：
3.2
作者：
S. Yi;Byoung-Wook Choi;N. Ahuja
通讯作者：
S. Yi;Byoung-Wook Choi;N. Ahuja
DOI：
10.1109/omnvis.2002.1044487
发表时间：
2002-06
期刊：
Proceedings of the IEEE Workshop on Omnidirectional Vision 2002. Held in conjunction with ECCV'02
影响因子：
--
作者：
José Gaspar;Cláudia Deccó;Jun Okamoto;José Santos-Victor
通讯作者：
José Gaspar;Cláudia Deccó;Jun Okamoto;José Santos-Victor
DOI：
10.1016/s0967-0661(97)10059-4
发表时间：
1997-05
影响因子：
2.3
作者：
Hyungsuck Cho
通讯作者：
Hyungsuck Cho