Study On Vision Coordinates Measurement Thoery Based On Single Camera Structure

According to the disadvantages of conventional vision sensor such as large volume,slow measurement and high cost, a kind of low cost single camera model used to measure coordinates in space is introduced. In structure design, the traditional double CCD cameras is changed to single CCD camera. By adding two groups of symmetrical reflectors, the single camera is imaged to a pair of virtual cameras. Then two pictures of the same object with parallax can be gathered from one CCD's image surface. After that, the three-dimensional information of the point can be retrieved.This dissertation's main work is as follows:1. Combining the advantages of structured light sensor and stereo vision sensor, a method based on single camera simulating stereo vision sensor has been studied. Based on stereoscopic vision, the three-dimensional information of the point can be retrieved by only one CCD's camera. Not only has the measurement speed been advanced, but also has the sensor's cost been decreased.2. The relationship between stereo vision sensor's baseline distance and stereo vision sensor's measurement accuracy has been analyzed. This relationship provides the theoretical foundation of single camera stereo vision sensor's structural design.3. The sensor's structure has been designed based on the theory of the single camera stereo vision sensor, and this dissertation has analyzed the baseline distance,the sensor's cross angle infected by placement angles of the optical reflectors in detail.4. Based on the structural design of the sensor, this dissertation has analyzed the position of the virtue camera influenced by the position of the real camera and the reflector.5. Compared with the two CCD cameras system, the field-of-view of this sensor has been decreased greatly. This dissertation has analyzed the system's field of view influenced by every parameter; whereas, optimum design of the system's structure has based on the system's filed of view.6. The calibration of single camera stereo vision sensor has been researched based on the calibration of two CCD cameras system. In the process of the calibration, only one CCD camera needs to calibrate which has simplified the calibration process and reduced calibration workload.