Study On The Technology Of Single Camera Stereo Vision Measuring With Large-field

Single camera stereo vision coordinates measurement system has an advantage of structure size, measurement speed and cost. For its extensive applicability, this dissertation analyses the structural factor influence on measurement accuracy of the binocular stereo vision sensor from new point of view. And design large-field structure of single camera stereo vision measurement, by this, makes for a loss of field of view that cause by splitting of single camera image plane. At the same time, considering the large image distortion bring by large field of view lens, and deficiency of conventional camera calibrating method for large-field lens, based on fish-eye lens imaging mode, two-step approach calibration method that suit for large distortion camera calibration is introduced, accomplish experimental verification and analyses.The main works of this dissertation are summarized as follows:1. On the basis of quondam structure analysis model for binocular stereo vision sensor, modify and transform mathematical formulation of measuring error that involves structure. Use intersection angle of the optical axis and baseline as led parameter, and get a concise mathematical analysis of measurement error determined by structure. Analyses the error cause by structure and abstraction precision, supply other kind of analytical procedure for binocular stereo vision physical design2. On the basis of analyses for structural factor that influence precision, design single camera stereo vision measurement of coordinates structure with large field. Analyses the correlation of the structure parameter, make a model machine and accomplish experimental verification.3. Considering conventional camera calibrating method, fish-eye lens imaging mode and RAC (radial array constraint), introduce two-step approach for the camera calibration method. First calibration imaging model, next finish precision calibration with conventional calibrating method. Suit for large filed and fish-eye lens.4. Verify the reliability, feasibility and validity of new camera calibrating method with theory simulation and actual experiment.