Calibration Method of Orthogonally Splitting Imaging Pose Sensor Based on General Imaging Model
Abstract
:1. Introduction
2. Materials and Methods
2.1. Mathematical Model
2.1.1. Imaging Principle of the Orthogonally Splitting Imaging Pose Sensor
2.1.2. Mapping Relation
2.1.3. Mathematical Model
2.2. Calibration
2.2.1. Mathematical Derivation
2.2.2. Experimental Apparatus
2.2.3. Data Acquisition Method
2.2.4. Calibration Procedure
- (1)
- Normalization of the image coordinate. According to the affine transformation, the image coordinates are normalized by . τ, A, and α are normalized parameters which can be solved by Choleski decomposition method.
- (2)
- Normalization of the world coordinate. According to the affine transformation, the world coordinates are normalized by . , B and b are normalized parameters which can be solved by Choleski decomposition method.
3. Results
3.1. Data Acquisition
3.1.1. Calibration Data Set Acquisition and Control Points Set Selection
3.1.2. Test Data Set Acquisition
3.2. Parameter Experiment
3.3. Calibration and Test
3.4. Comparison Experiment
4. Discussion
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
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Apparatus | Parameters |
---|---|
LED | The power is 1 W, the working current is 350 mA, and the working voltage is 3 ~ 3.8 V |
Line array CCD | Resolution is 12,288 pixels, pixel size is 5 μm, mechanics is 76 × 76 × 56 mm3 |
Motorized stage | Ball screw drive mode, the guide rail adopts linear bearing, the resolution under the 8 subdivision is 2.5 μm, the maximum speed is 40 mm/s, and the repeated positioning accuracy is less than 5 μm |
Calibration Dataset RMS (mm) | Test Dataset RMS (mm) | |
---|---|---|
MQ function | 0.048 | 0.049 |
Gaussian function | 0.0778 | 0.0784 |
General Imaging Model | Pinhole Imaging Model | |
---|---|---|
RMS (mm) | 0.048 | 0.061 |
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Zhao, N.; Sun, C.; Wang, P. Calibration Method of Orthogonally Splitting Imaging Pose Sensor Based on General Imaging Model. Appl. Sci. 2018, 8, 1399. https://doi.org/10.3390/app8081399
Zhao N, Sun C, Wang P. Calibration Method of Orthogonally Splitting Imaging Pose Sensor Based on General Imaging Model. Applied Sciences. 2018; 8(8):1399. https://doi.org/10.3390/app8081399
Chicago/Turabian StyleZhao, Na, Changku Sun, and Peng Wang. 2018. "Calibration Method of Orthogonally Splitting Imaging Pose Sensor Based on General Imaging Model" Applied Sciences 8, no. 8: 1399. https://doi.org/10.3390/app8081399