镜像式单摄像机双目视觉传感器的结构设计  

Structure Design of Binocular Vision Sensor Using Mono-camera with Mirrors

作　　者：杨琤[1] 周富强[1] 

机构地区：[1]北京航空航天大学精密光机电一体化技术教育部重点实验室,北京100191

出　　处：《机械工程学报》2011年第22期7-12,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(60972086);天津大学精密测试计量技术及仪器国家重点实验室开放基金资助项目

摘　　要：针对传统双目视觉传感器体积大、测量效率低、成本高和图像采集需同步等缺点,建立镜像式单摄像机双目视觉传感器的结构模型,提出一种镜像式单摄像机双目视觉传感器的结构优化设计方法。传感器由单摄像机和两块呈一定角度的平面镜构成的镜像光学系统组成,摄像机置于镜像光学系统前,拍摄获得平面镜中对应同一被测物体的两个虚拟物体的一幅图像,图像中左右两半部分的同名特征对应被测物体的同一空间目标,等效于传统双目视觉传感器中左右摄像机分别采集的两幅图像中的同名特征。详细分析平面镜的尺寸、两块平面镜之间的夹角、平面镜与摄像机的距离等结构参数对视场范围和测量精度误差分布的影响,由仿真结果得出结构参数的合理取值范围,给出镜像式单摄像机双目视觉传感器结构参数的一般性设计原则与方法步骤。根据视场范围和测量精度的要求,确定镜像式单摄像机双目视觉传感器的关键结构参数。试验结果表明,提出的结构优化设计方法对工程应用具有实际指导意义。According to the disadvantages of conventional binocular vision sensor such as big size,low measuring efficiency,high cost,no synchronal image collection and so on,a structural model of single camera binocular vision sensor using mirrors is established.An optimization structure design of single camera binocular vision sensor using mirrors is proposed.A single camera and the mirror optical system which consist of two angled mirrors constitute the sensor.Two virtual images reflected by two mirrors of one object are acquired in a single shot by the camera set in front of the mirror optical system.The conjugate points from the left part and the right part of the image is corresponding to the same object.It is equivalent to the traditional binocular vision sensor in which the same object is obtained by two cameras.Field of view is related with the size of mirrors,the angle between two mirrors and the distance between camera and mirrors.Thus the structure of the sensor can be determined according to the requirement of field of view.The effect of the geometry on the measuring accuracy is analyzed according to the relationship between the structure parameters and the position of measurand.The reasonable range of parameters is estimated by simulation.Based on the proposed principle and procedure,structure design can be instructed by the theory under different circumstances.The research shows great significance in application.

关 键 词：单摄像机 双目视觉 精度分析 结构设计 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]