Error analysis of incoherent imaging binocular vision system
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摘要: 影响双目视觉系统测量精度的因素很多，目前系统结构参数对测量精度的影响主要有光轴与基线的夹角、基线距离、水平视角、物距以及透镜焦距等。由于孔径尺寸直接影响成像分辨率，是决定双目视觉测量精度的核心因素，因此依据非相干成像理论，对双目成像过程进行仿真和实验，采用加速鲁棒特征算法对所成的图像对进行特征提取与匹配，获取其视差值，并且计算其视差均方根误差来表征系统误差。研究结果表明，系统误差随着透镜孔径大小的增大而减小，并且趋于饱和。该研究可以为双目系统设计过程中系统参数和孔径尺寸的选取提供理论和实验依据。Abstract: There are many factors that affect the measurement accuracy of binocular vision system. Currently, the influence of system structure parameters on the measurement accuracy mainly includes the angle between optical axis and baseline, baseline distance, horizontal viewing angle, object distance and lens focal length. Since the aperture size directly affect the imaging resolution, it is the core factor that determines the accuracy of binocular vision measurement. Consequently, according to the incoherent imaging theory, the binocular imaging process is simulated and tested. Moreover, Speeded Up Robust Features algorithm is adopted to extract and match the features of the image pairs to obtain their parallax values. The parallax root mean square error is calculated to represent the systematic errors. The results show that the system error decreases with the increase of lens aperture, and approaches saturation. This research can provide theoretical and experimental basis for the selection of system parameters and aperture size during the design of the binocular system.
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图 5 分辨率板:透镜孔径大小与系统误差之间的关系
Figure 5. Resolution board: the relationship between lens aperture size and system error
图 7 Cameraman：透镜孔径大小与系统误差之间的关系
Figure 7. Relationship between lens aperture size and system error using “Cameraman” as input
图 8 Lena：透镜孔径大小与系统误差之间的关系
Figure 8. Relationship between lens aperture size and system error using “Lena” as input
图 11 透镜孔径大小与系统误差之间的关系
Figure 11. Experimental relationship between lens aperture size and system error
表 1 实验仪器的相关参数
Table 1. Relevant parameters of the experimental instrument
laboratory apparatus parameter values digital industrial camera resolution: 3840×2748; pixel size: 1.67 μm×1.67 μm double cemented achromatic lens diameter: ϕ25.4 mm; focal length: 30 mm electric diaphragm diameter range: ϕ2.5～28 mm electronically controlled translation stage moving direction: x; reading accuracy: 0.001 mm two-dimensional combined translation stage moving direction: x-y; reading accuracy: 0.001 mm XY mobile mount horizontal stroke: 50 mm; vertical stroke: 30 mm resolution test target size: 76.2 mm×25.4 mm backlighting light source power: 25 W; light source color: red laser wavelength: 532 nm; power: 50 mW 
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