Abstract The accuracy of the existing measurement method based on binocular stereo vision depends on the accuracy of calibration, and the accuracy of measurement decreases when the spatial circle is occluded. Firstly, the reconstruction accuracy of point affected by the stereo matching error of points on projection curves is analyzed in the presence of external parameter error of the binocular stereo vision system. Then, based on the conclusion of error analysis, a new method for measuring the position and orientation of spatial circle is designed. Using the edge points selecting algorithm, the points of projection curves are selected. The circle is then reconstructed using the points with small stereo matching error. The projection of the reconstructive points on the optimal projection plane based on nonlinear optimization in the direction depth is utilized for fitting spatial circle to obtain the position and orientation. Experimental results prove the effectiveness of the proposed algorithm.
Fund:Supported by the Joint Fund of National Natural Science Foundation of China and Shandong Province(No. U1706228), National Natural Science Foundation of China(No.61673245), Key Research Plan of Shandong Province (No.2016ZDJS02A07)
Corresponding Authors:
MA Xin, Ph.D., professor. Her research interests include artificial intelligence, machine vision and mobile robots.
About author:: LI Zhengyuan, master student. His research interests include visual perception.LI Yibin, Ph.D., professor. His research interests include robotics and intelligent control theories.
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2019, Vol. 32 
