Abstract
At present, binocular vision system is widely used in unmanned aerial vehicle (UAV). However, there is a large vibration in the process of UAV’s flight. It will lead to the change of the position relationship in the binocular vision system. To solve this problem, this paper proposes a method based on Bundle Adjustment optimization algorithm. It is based on the camera calibration data calibrated before out of factory. The rigid body transformation matrix between the two cameras is calibrated and optimized by the position of the feature points and the image information around the feature points. A series of experiments are conducted to test the algorithm. The experiment shows that the distance between calibrated 3D points and the ground truth is less than 5 mm when the length between target and binocular vision system is about to 2 m. It has fully satisfied the needs of the subsequent computation of disparity map. The algorithm has been applied to a UAV binocular vision system.
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Acknowledgments
This work was financially supported by the National Natural Science Foundation of Heilongjiang province under Grant QC2014C072, and Postdoctoral Science Foundation of Heilongjiang under Grant LBH-Z14108.
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Xu, D., Gao, Y., Hou, Z. (2017). Self Calibration of Binocular Vision Based on Bundle Adjustment Algorithm. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_57
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DOI: https://doi.org/10.1007/978-3-319-65292-4_57
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