The fisheye lens, with a field of view (FOV) angle reaching 180 degrees, is highly effective for visual inspection and measurement of large scenes, provided it is accurately modeled and precisely calibrated. Unlike perspective projection lenses with narrower FOVs, fisheye lenses exhibit stronger nonlinearity, greater distortions, and more pronounced aberrations. Moreover, the calibration accuracy of current state-of-the-art imaging models and methods is generally less than 1/10 of a pixel, which fails to meet the high-precision requirements of certain measurement scenarios. In this paper, we introduce a new imaging model and calibration method for fisheye cameras. Supplementing traditional projection and distortion models, we propose image-variant intrinsic orientation parameters to account for the influence of the camera's attitude on intrinsic parameters. Additionally, we develop a corresponding bundle adjustment algorithm for this model. Because traditional calibration objects are too small to meet the high-precision needs of fisheye lenses, we establish a large planar calibration field with numerous control points and capture a series of images from various orientations for bundle adjustment calibration of the imaging model. To address the significant impact of initial parameter values on the bundle adjustment convergence process, we present a new calibration method that enables automatic processing and matching of calibration image data, ensuring robust and reliable results. Calibration experiments using a NIKON D810 camera and a Nikkor 16mm fisheye lens demonstrate that our method achieves a calibration precision of 1/15 of a pixel, surpassing other models and methods reported in the literature. Furthermore, our proposed method is distinguished by its simplicity in operation and automated data processing.
In order to improve the positioning accuracy of humanoid football robots on the playing field[1], this paper proposes a field-assisted positioning method based on monocular vision. By fixing a robot in a specific position and using its monocular camera to capture the key features of other robots and footballs on the field, the latest target detection algorithm YOLOv8 is used to accurately identify targets. Then, the distance measurement model established by the camera pose algorithm and the geometric relationship within the coordinate system are used to accurately calculate the relative coordinates of the robot on the football field. Through experimental verification, we found that among the five test algorithms, the ranging and auxiliary positioning model based on the EPNP algorithm performed best. Its ranging and positioning accuracy within 3 meters can reach a level of less than 10 centimeters, which fully proves confirm the effectiveness and accuracy of this method.
Since feature matching of image pairs brings a heavy computational burden, Structure-from-Motion faces great challenges in efficiency, especially for unordered large-scale image collections. To solve it, we propose a hierarchical image matching method in this paper. Our approach starts with an iterative image retrieval scheme, which can efficiently find potentially overlapping image pairs as candidates and avoid unnecessary computation. Then, feature extraction, feature matching and geometric verification are implemented in candidates to find the verified image pairs and inlier feature correspondences. Experiments on benchmark datasets and large-scale unordered datasets demonstrate that our method performs competitiveness in efficiency, without degrading the accuracy, compared with the state-of-the-art system.
Vision measurement, a fast and high precision measurement technology, has great application potential in aerospace applications such as on-orbit assembly and maintenance. The On-orbit Multi-view Photogrammetry System (OMPS) has insufficient known spatial reference information to assist camera orientation. To solve this problem, this paper proposes a method to realize the calibration of all Cameras External Parameters (CEP) of the OMPS using stars and scale bars. The method firstly establishes the imaging model of stars and scale bars, in which a relative position model is proposed to solve the reference camera position unconstrained problem. Subsequently, based on the constructed error equations of star imaging point, scale bar target imaging point and scale bar length, a multi-data fusion bundle adjustment algorithm is proposed to realize the high-precision calibration of CEP. The practical experiments show that the image plane errors of stars and scale bar targets are 1/7 pixel (1σ) and 1/16 pixel (1σ) respectively, and scale bar length error is 0.045 mm (1σ). Taking the measurement of V-star System (VS) as the true value, the OMPS measurement error of spatial targets in X, Y and Z directions are 0.45 mm (3σ), 0.12 mm (3σ) and 0.15 mm (3σ), respectively. This method can provide an algorithm and data reference for the calibration problem of CEP in the on-orbit application of Photogrammetry (PG).
The research showed the simulation of position error when assembling a reflective mirror of parabolic trough concentrator. The shape of a reflective mirror is like a parabolic cylinder model, relying on the back of the four-point mounted on a special setup, making it unable to move. Therefore, it is of great importance of the machining precision of special bracket. We need to analyze the influence of reflective mirror‘s intercept factor in order to guide the processing precision. It is assumed that each reflective mirror is rigid, we have calculated the intercept factor of reflector with mounting points’ random error of different standard deviation, comparing the simulating results with TRACEPRO. As a sequence, we can approve the feasibility of the algorithm, and give the effect of different random errors on the light-gathering efficiency. On the basis, we provide the machining accuracy of bracket. The simulation results show that when the mounting points’ standard deviation of position error is less than 0.5 mm, the intercept factor of receiver has reached upwards of 92% with 60 mm diameter for receiver, which can satisfy the design requirements.
The precision of centroid location for infrared LED point images is an important factor, which affects the precision of the light-pen Coordinate Measuring Machining (CMM) .In this paper, the error model using the traditional center of mass (COM) algorithm is analyzed and it is shown that there are systematic error and random error. This paper analyzes the systematic error and random error, and then adopts the Gaussian surface fitting (GSF) algorithm and weighted centre-ofgravity (WCOG) algorithm to compensate systematic errors, meanwhile it analyzes how to reduce random error. The simulation results show that the accuracy of the infrared LED point position can be enhanced from 1/ 20 pixel to 1/100 pixel using the new algorithm.
A photoelectric autocollimator employing an area Charge Coupled Device (CCD) as its target receiver, which is specially used in numerical stage calibration is optimized, and the various error factors are analyzed. By using the ZEMAX software, the image qualities are optimized to ensure the spherical and coma aberrations of the collimating system are less than 0.27mm and 0.035mm respectively; the Root Mean Square (RMS) radius is close to 6.45 microns, which is identified with the resolution of the CCD, and the Modulation Transfer Function (MTF) is greater than 0.3 in the full field of view, 0.5 in the centre field at the corresponding frequency. The errors origin mainly from fabrication and alignment, which are all about 0.4" . The error synthesis shows that the instrument can meet the demands of the design accuracy, which is also consistent with the experiment.
A photoelectric autocollimator of large measuring range for detecting position accuracy of NC rotary table is
designed. The autocollimator has a measurement range of ±30'. The measurement accuracy and the resolution of the
autocollimator are 2" and 0.32" respectively. The autocollimator applies an area CCD camera as its detector, which can
realize two-axis measuring at the same time and automatically detect the position of the rotary table.
The important components of the autocollimator are designed such as objective lens, ocular lens, cross reticule,
beam splitter prism. A LED light is used in the autocollimator for its high brightness. Using the ZEMAX optical design
program, the light path of the system is analyzed and optimized to ensure the spherical aberration within
-0.05mm~+0.05mm and the sine aberration of 0.0003mm. The MTF value of field of view is more than 0.5 at the half
Nyquist frequency. The MTF is higher than 0.3 within 0.7 FOV at the Nyquist frequency. RMS radiuses are less than
Airy disk.
The mechanical structure of the autocollimator is designed. And two adjusting devices to regulate the position of the
reticule and the objective lens are designed to ensure the reticule at the right position and to get an excellent imaging
performance in CCD.
The performance of the debugging sample machine has been tested, The error of indication of the autocollimator is
contrasted and the result is consistent with the specification above.
Based on computer-vision technology, the paper studies the effect of plane height error and structure
laser incident angle on the measurement of step-style work piece, which has geometric dimensions on
different planes. Through the calibration, the relationship of different heights corresponding to
two-dimensional plane calibration parameters is established, and the effect of the error of the plane
height in the measurement is analyzed, the experiment result demonstrates that when the error of the
height is less than 0.1mm, the effect is trivial to the dimension measurement result; The paper also
studies the influence of the structure laser incident angle on the measurement. The result of
experiments shows that with the increase of the structure laser incident angle, intercept value of any
two contour lines which are formed by the incident laser corresponding to two different heights on
measured work piece decreases and the world coordinates offset increases but the absolute error is
trivial too when the incident angle varies from 30° to 60°.
This paper presents a photoelectric autocollimator, which consists of an optical autocollimator and an area CCD and is
calibrated using a dual-frequency laser interferometer HP5528A. The positional precision of a NC motorized stage is
detected automatically and quickly by applying the photoelectric autocollimator calibrated and an optical polyhedron to
finish the error compensation of the stage. According to GB/T 17421.2-2000, when the polyhedron and the stage both
revolve with the same axis, the positional error of the stage is measured by the photoelectric autocollimator.
Experimental results show that an angle can be measured by the photoelectric autocollimator whose standard deviation is
less than 0.5" and the calculated position accuracy agrees with the specification of the stage.
A photoelectric autocollimator, which consists of an optical autocollimator and an area CCD and whose standard
deviation is less than 0.5" calibrated by a dual-frequency laser interferometer HP5528A, is proposed in the paper. The
positional precision of a NC motorized stage is detected automatically and quickly by applying the photoelectric
autocollimator calibrated and an optical polyhedron to finish the error compensation of the stage. According to GB/T
17421.2-2000, when the polyhedron and the stage both revolve with the same axis, the positional error of the stage is
measured by the photoelectric autocollimator and then sent back to the controlling system of the stage manually or
automatically. Experimental results show that an angle can be measured by the photoelectric autocollimator and the
calculated position accuracy agrees with that which is measured by a Triangle autocollimator 500-57 at the same time.
Four issues of the method of photoelectric autocollimation for two-dimensional small angle measurement such as
adjustment of calibration system, elimination of the effect on the measurement result induced by the installing position of
the CCD camera relative to the autocollimator, processing methods of experimental data and repeatability of the system
are studied in the paper. The calibration system which is composed of a precision motorized stage, a dual-frequency laser
interferometer and a photoelectric autocollimator, is regulated to accomplish two separate calibrations around Z-axis and
X-axis in the measuring coordinates system which is established by considering horizontal, vertical line of the crosshair
and optical axis as X-axis, Z-axis and Y-axis respectively. Experimental results show that the formula method which can
reduce the random error and remove the system error effectively with the average error of zero and the standard
deviation 0.59". Compared with traditional optical autocollimator, the improvement of the photoelectric autocollimation
method can be used to achieve rapid and automatic positional detection and error compensation of CNC rotary shaft.
In order to accurately position the nodes of a SAR(synthetic aperture radar), a special assemble workbench is designed
and a laser tracker named LTS-1100 from the API is used to measure it. The two stations layout of laser tracker along the
lengthways center line of the workbench are adopted. The six common points used when the laser tracker moving from
one station to the other are selected based on the stability experiment under the working environment. The laser tracker
measures the positions of all the points real time and directs their adjustments. The distance error of the points from the
ideal on the workbench is less than ±0.105mm. The close range photogrammetric method is then used to measure the
nodes position of the SAR antenna assembled on the workbench. The result indicates the coincidence with that obtained
by the laser tracker.
A recognizing and sub-pixel locating algorithm of a crosshair image and a calibrating method of the setup are studied. A
sub-pixel locating accuracy and 2" within the full range are achieved. The crosshair captured with a CCD camera was
processed and calculated by a computer. The gray values of each cross section of each line were fitted to Gaussian curve
with the least squares method, the central points of the curves were fitted to a line with the same method, the
intersections of two pair of lines were obtained and 2D displacement in pixels was figured out. With the precision stage
and HP5528A dual-frequency laser interferometer, the setup within the full range was calibrated with piecewise linear
interpolation method. Eye fatigue and errors by eye sighting and reading are eliminated and measuring efficiency is
raised greatly. It is suitable for NC machine stage precision measurement and stage error automatic compensation.
Remote medical monitoring network for long-term monitoring of physiological variables would be helpful for recovery of patients as people are monitored at more comfortable conditions. Furthermore, long-term monitoring would be beneficial to investigate slowly developing deterioration in wellness status of a subject and provide medical treatment as soon as possible. The home monitor runs on an embedded microcomputer Rabbit3000 and interfaces with different medical monitoring module through serial ports. The network based on asymmetric digital subscriber line (ADSL) or local area network (LAN) is established and a client - server model, each embedded home medical monitor is client and the monitoring center is the server, is applied to the system design. The client is able to provide its information to the server when client's request of connection to the server is permitted. The monitoring center focuses on the management of the communications, the acquisition of medical data, and the visualization and analysis of the data, etc. Diagnosing model of sleep apnea syndrome is built basing on ECG, heart rate, respiration wave, blood pressure, oxygen saturation, air temperature of mouth cavity or nasal cavity, so sleep status can be analyzed by physiological data acquired as people in sleep. Remote medical monitoring network based on embedded micro Internetworking technology have advantages of lower price, convenience and feasibility, which have been tested by the prototype.
A single mode fiber (SMF) pigtailed laser diode alignment system used for coaxiality measurement of large scale holes is studied. The drift of angle of laser beam is restricted obviously by mode restriction of single mode fiber. The stability of laser reference line is the order of 1.5 x 10-6. It can be used in measurements of position and form errors of large scale workpieces.
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