| Citation: | WU Jun, WANG Hao-shuang, SHAN Teng-fei, GUO Run-xia, ZHANG Xiao-yu, CHEN Jiu-sheng. Omnidirectional spatial monocular vision indoor localization measurement based on a two-degree-of-freedom rotary table[J].Chinese Optics.doi:10.37188/CO.2023-0106
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To address the problem of limited field of view measurement in traditional monocular vision measurement systems, this paper proposes an omnidirectional spatial monocular vision measurement method based on a two-degree-of-freedom rotary table. First, calibrate the rotating axis parameters of the double-degree-of-freedom rotary table. Then, take pictures of the checkerboard calibration plate fixed with the two-degree-of-freedom rotary table using an auxiliary camera. Extract the position coordinates of the checkerboard corner points and convert them to the same camera coordinate system. The direction vector of the initial position axis parameter was obtained through PCA (principal component analysis) plane fitting, and the position parameter in the rotation axis parameter in the initial position was determined using the method of spatial least squares circle fitting. The camera data acquired at various angles is transformed into coordinate system one using the rotary table rotation angle and the Rodrigues formula. This enables measurement of the target in the horizontal and vertical omnidirectional space. Finally, verification of the measurement accuracy of the proposed method was conducted using a high-precision laser rangefinder. Additionally, experiments comparing the omnidirectional spatial measurement ability of the method with the binocular vision measurement system and wMPS measurement system were conducted. The results indicate that the method achieves a measurement accuracy comparable to that of a binocular vision system. However, it also surpasses the binocular vision system in term of measurement range, making it applicable for omnidirectional spatial measurements.
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