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Sensors 2016, 16(7), 1074; doi:10.3390/s16071074

Structural Parameters Calibration for Binocular Stereo Vision Sensors Using a Double-Sphere Target

Key Laboratory of Precision Opto-mechatronics Technology (Beihang University), Ministry of Education, Beijing 100191, China
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 1 April 2016 / Revised: 4 July 2016 / Accepted: 6 July 2016 / Published: 12 July 2016
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [10358 KB, uploaded 12 July 2016]   |  


Structural parameter calibration for the binocular stereo vision sensor (BSVS) is an important guarantee for high-precision measurements. We propose a method to calibrate the structural parameters of BSVS based on a double-sphere target. The target, consisting of two identical spheres with a known fixed distance, is freely placed in different positions and orientations. Any three non-collinear sphere centres determine a spatial plane whose normal vector under the two camera-coordinate-frames is obtained by means of an intermediate parallel plane calculated by the image points of sphere centres and the depth-scale factors. Hence, the rotation matrix R is solved. The translation vector T is determined using a linear method derived from the epipolar geometry. Furthermore, R and T are refined by nonlinear optimization. We also provide theoretical analysis on the error propagation related to the positional deviation of the sphere image and an approach to mitigate its effect. Computer simulations are conducted to test the performance of the proposed method with respect to the image noise level, target placement times and the depth-scale factor. Experimental results on real data show that the accuracy of measurement is higher than 0.9‰, with a distance of 800 mm and a view field of 250 × 200 mm2. View Full-Text
Keywords: binocular stereo vision sensor; structural parameters calibration; double-sphere target binocular stereo vision sensor; structural parameters calibration; double-sphere target

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Wei, Z.; Zhao, K. Structural Parameters Calibration for Binocular Stereo Vision Sensors Using a Double-Sphere Target. Sensors 2016, 16, 1074.

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