On-site calibration method for a binocular vision sensor based on the phase-shift algorithm

Mingwei Shao; Mingwei Shao; Lingkun Zhang; Hailong Ma; Jianjun Chen

doi:10.1364/AO.506693

Applied Optics
Vol. 63,
Issue 10,
pp. 2621-2629
(2024)
•https://doi.org/10.1364/AO.506693

On-site calibration method for a binocular vision sensor based on the phase-shift algorithm

Mingwei Shao, Lingkun Zhang, Hailong Ma, and Jianjun Chen

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Mingwei Shao, Lingkun Zhang, Hailong Ma, and Jianjun Chen, "On-site calibration method for a binocular vision sensor based on the phase-shift algorithm," Appl. Opt. 63, 2621-2629 (2024)

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Abstract

When a binocular vision sensor (BVS) is installed in a narrow space, traditional calibration methods are limited as all targets should be placed in more than three different positions. To solve this problem, an on-site calibration method based on the phase-shift algorithm is proposed in our paper. Intrinsic parameters of these two cameras should be first calibrated offline. Series of phase-shift patterns are projected onto any one target with known three-dimensional information to determine the relationship between two cameras. The target utilized in our proposed method can be selected arbitrarily, which is suitable to achieve the on-site calibration of BVS, especially in industrial vibration environments. Experiments are conducted to validate the effectiveness and robustness of our proposed method.

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Data availability

Data underlying the results presented in this paper are not publicly available at this time but may be obtained from the authors upon reasonable request.

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		Our Method 1			Our Method 2			Zhang’s Method
Position		$x$	$y$	$z$	$x$	$y$	$z$	$x$	$y$	$z$
Pos1	1	73.85	14.08	326.06	73.82	13.94	326.08	74.01	13.96	325.99
	2	73.9	5.13	330.49	73.84	5.01	330.51	74.05	4.98	330.41
	3	73.94	−3.83	334.92	73.93	−3.89	334.91	74.09	−3.98	334.86
	4	73.98	−12.8	339.37	73.91	−12.92	339.34	74.13	−12.95	339.29
	5	74.01	−21.79	343.80	74.08	−21.88	343.85	74.17	−21.91	343.7
Pos2	1	79.75	14.56	322.47	79.71	14.47	322.45	79.88	14.43	322.38
	2	79.69	5.62	326.9	79.67	5.48	326.92	79.84	5.46	326.82
	3	79.65	−3.36	331.34	79.63	−3.48	331.39	79.8	−3.53	331.25
	4	79.61	−12.34	335.78	79.59	−12.44	335.79	79.76	−12.49	335.68
	5	79.57	−21.28	340.22	79.55	−21.43	340.26	79.72	−21.44	340.11
Pos3	1	−39.37	−32.24	310.44	−39.4	−32.39	310.41	−39.21	−32.4	310.34
	2	−44.2	−24.74	314.92	−44.23	−24.85	314.92	−44.05	−24.89	314.82
	3	−49.04	−17.23	319.43	−49.07	−17.31	319.4	−48.89	−17.38	319.3
	4	−53.88	−9.73	323.89	−53.91	−9.82	323.89	−53.73	−9.85	323.78
	5	−58.71	−2.2	328.38	−58.75	−2.31	328.37	−58.57	−2.31	328.26

		Our Method					Zhang’s Method
		$d_{tru}$	$d_{m 1}$	$d_{m 2}$	$Δ d_{1}$	$Δ d_{2}$	$d_{t r u}$	$d_{m 3}$	$Δ d_{3}$
Pos1	1	10.00	9.99	9.97	−0.01	−0.03	10.00	10.01	0.01
	2	10.00	10.00	9.93	0.00	−0.07	10.00	10.00	0.00
	3	10.00	10.01	10.06	0.01	0.06	10.00	10.00	0.00
	4	10.00	10.02	10.03	0.02	0.03	10.00	9.99	−0.01
Pos2	1	10.00	9.98	10.04	−0.02	0.04	10.00	10.01	0.01
	2	10.00	10.02	10.01	0.02	0.01	10.00	10.02	0.02
	3	10.00	10.02	9.98	0.02	−0.02	10.00	10.00	0.00
	4	10.00	9.98	10.04	−0.02	0.04	10.00	9.99	−0.01
Pos3	1	10.00	9.98	10.03	−0.02	0.03	10.00	9.99	−0.01
	2	10.00	10.01	10.02	0.01	0.02	10.00	9.99	−0.01
	3	10.00	9.98	9.98	−0.02	−0.02	10.00	10.01	0.01
	4	10.00	10.01	9.99	0.01	−0.01	10.00	10.02	0.02
RMSE					0.016	0.036			0.011

		Our Method 1			Our Method 2			Zhang’s Method
Position		$x$	$y$	$z$	$x$	$y$	$z$	$x$	$y$	$z$
Pos1	1	73.85	14.08	326.06	73.82	13.94	326.08	74.01	13.96	325.99
	2	73.9	5.13	330.49	73.84	5.01	330.51	74.05	4.98	330.41
	3	73.94	−3.83	334.92	73.93	−3.89	334.91	74.09	−3.98	334.86
	4	73.98	−12.8	339.37	73.91	−12.92	339.34	74.13	−12.95	339.29
	5	74.01	−21.79	343.80	74.08	−21.88	343.85	74.17	−21.91	343.7
Pos2	1	79.75	14.56	322.47	79.71	14.47	322.45	79.88	14.43	322.38
	2	79.69	5.62	326.9	79.67	5.48	326.92	79.84	5.46	326.82
	3	79.65	−3.36	331.34	79.63	−3.48	331.39	79.8	−3.53	331.25
	4	79.61	−12.34	335.78	79.59	−12.44	335.79	79.76	−12.49	335.68
	5	79.57	−21.28	340.22	79.55	−21.43	340.26	79.72	−21.44	340.11
Pos3	1	−39.37	−32.24	310.44	−39.4	−32.39	310.41	−39.21	−32.4	310.34
	2	−44.2	−24.74	314.92	−44.23	−24.85	314.92	−44.05	−24.89	314.82
	3	−49.04	−17.23	319.43	−49.07	−17.31	319.4	−48.89	−17.38	319.3
	4	−53.88	−9.73	323.89	−53.91	−9.82	323.89	−53.73	−9.85	323.78
	5	−58.71	−2.2	328.38	−58.75	−2.31	328.37	−58.57	−2.31	328.26

		Our Method					Zhang’s Method
		$d_{tru}$	$d_{m 1}$	$d_{m 2}$	$Δ d_{1}$	$Δ d_{2}$	$d_{t r u}$	$d_{m 3}$	$Δ d_{3}$
Pos1	1	10.00	9.99	9.97	−0.01	−0.03	10.00	10.01	0.01
	2	10.00	10.00	9.93	0.00	−0.07	10.00	10.00	0.00
	3	10.00	10.01	10.06	0.01	0.06	10.00	10.00	0.00
	4	10.00	10.02	10.03	0.02	0.03	10.00	9.99	−0.01
Pos2	1	10.00	9.98	10.04	−0.02	0.04	10.00	10.01	0.01
	2	10.00	10.02	10.01	0.02	0.01	10.00	10.02	0.02
	3	10.00	10.02	9.98	0.02	−0.02	10.00	10.00	0.00
	4	10.00	9.98	10.04	−0.02	0.04	10.00	9.99	−0.01
Pos3	1	10.00	9.98	10.03	−0.02	0.03	10.00	9.99	−0.01
	2	10.00	10.01	10.02	0.01	0.02	10.00	9.99	−0.01
	3	10.00	9.98	9.98	−0.02	−0.02	10.00	10.01	0.01
	4	10.00	10.01	9.99	0.01	−0.01	10.00	10.02	0.02
RMSE					0.016	0.036			0.011

Abstract

Data availability

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Figures (12)

Tables (2)

Equations (23)

Applied Optics