Surface Reconstruction of Stamping Parts Based on Binocular Stereo Vision

2013 ◽  
Vol 415 ◽  
pp. 314-317
Author(s):  
Hui Yu Xiang ◽  
Baoan Han ◽  
Jia Jun Huang ◽  
Zhe Li
Keyword(s):  
3D Reconstruction ◽  
Surface Reconstruction ◽  
Stereo Vision ◽  
Curved Surface ◽  
Feature Points ◽  
Scatter Diagram ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
3D Information

In order to realize the 3D reconstruction of stamping parts surface, this paper based on binocular stereo vision principle firstly introduces the model of the binocular cameras. Internal and external parameters of camera can be obtained by binocular calibration, taking the printed circle grid centers which are on the stamping parts as feature points, and then using the disparity image obtained by HALCON to reconstruct 3D information of the feature points. Finally, use Matlab to plot out the scatter diagram of feature points and the fitting curved surface diagram.

scholarly journals A Method for Extrinsic Parameter Calibration of Rotating Binocular Stereo Vision Using a Single Feature Point

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3666 ◽  
Author(s):  
Yue Wang ◽  
Xiangjun Wang ◽  
Zijing Wan ◽  
Jiahao Zhang
Keyword(s):  
3D Reconstruction ◽  
Stereo Vision ◽  
Vertical Direction ◽  
Calibration Method ◽  
Quadratic Equation ◽  
Feature Point ◽  
Self Calibration ◽  
Binocular Stereo Vision ◽  
Single Feature ◽  
Binocular Stereo

Nowadays, binocular stereo vision (BSV) is extensively used in real-time 3D reconstruction, which requires cameras to quickly implement self-calibration. At present, the camera parameters are typically estimated through iterative optimization. The calibration accuracy is high, but the process is time consuming. Hence, a system of BSV with rotating and non-zooming cameras is established in this study, in which the cameras can rotate horizontally and vertically. The cameras’ intrinsic parameters and initial position are estimated in advance by using Zhang’s calibration method. Only the yaw rotation angle in the horizontal direction and pitch in the vertical direction for each camera should be obtained during rotation. Therefore, we present a novel self-calibration method by using a single feature point and transform the imaging model of the pitch and yaw into a quadratic equation of the tangent value of the pitch. The closed-form solutions of the pitch and yaw can be obtained with known approximate values, which avoid the iterative convergence problem. Computer simulation and physical experiments prove the feasibility of the proposed method. Additionally, we compare the proposed method with Zhang’s method. Our experimental data indicate that the averages of the absolute errors of the Euler angles and translation vectors relative to the reference values are less than 0.21° and 6.6 mm, respectively, and the averages of the relative errors of 3D reconstruction coordinates do not exceed 4.2%.

Distance Measurement Algorithm Based on Binocular Stereo Vision

2014 ◽  
Vol 635-637 ◽  
pp. 948-952 ◽  
Author(s):  
Hui Min Long ◽  
Hai Yan Guo ◽  
Feng Liang ◽  
Gui Hua Liu
Keyword(s):  
Stereo Vision ◽  
Three Dimensional ◽  
Distance Measurement ◽  
Measurement Technology ◽  
Feature Points ◽  
Practical Applications ◽  
Binocular Stereo Vision ◽  
Dense Matching ◽  
Wide Range ◽  
Binocular Stereo

Distance measurement technology of binocular stereo vision has the advantages of wide-range detection, simplicity and reliability. The method is widely applied to robot obstacle avoidance and path planning. Binocular stereo vision can only measure the distance of images feature points generally. However, more information about distance of non-feature points is also needed to acquire in practical applications. This paper proposes a stereo distance measurement method, which can measure distance of points whether it is a feature point or not based on a dense matching method. A dense parallax map is obtained by the graph-cuts algorithm. On the basis of the calibration parameters of binocular camera and the left and right image dense parallax map, the three-dimensional coordinates of the any points and their distance will be gotten. The true image experiment has proved the feasibility of this algorithm with high accuracy and maneuverability.

A Multi-Sensory Robot Used for Searching Toxic Gas Leak Source

2010 ◽  
Vol 139-141 ◽  
pp. 2150-2153
Author(s):  
Xiao Jun Zhang ◽  
Ming Lu Zhang ◽  
Jian Hua Zhang ◽  
Ling Yu Sun
Keyword(s):  
Stereo Vision ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Sensory Function ◽  
Binocular Stereo Vision ◽  
Gas Leak ◽  
Binocular Stereo ◽  
Toxic Gas ◽  
Walking Mechanism ◽  
3D Information

For filling the application requirement of searching toxic gas leak source, a multi-sensory robot, which is used for searching toxic gas leak source, is developed. This robot consists of humanoid multiple degree of freedom head system and tracked walking mechanism, with the sense of smell, hearing and stereo vision and other functions. The robot’s bionic olfaction system can detect 5 kinds of toxic gas in the same time, and the hearing system consisted of four microphones can get all kinds of sound in the general environment. Meanwhile, its binocular stereo vision system can get the 3D information of the work environmental. Distributed controll system is constructed for the robot, and comprehensive utilization of the multi-sensory function can increase the efficiency and accuracy of searching leakage. This robot can give full play the advantage of multiple degrees of freedom to expand the searching scope of the robot, and enhance the flexibility of the searching behavior. This robot system has wide application prospects in the environment of toxic gas.

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