Research on the Rigid Body Automatic Merging System Based on Nonparallel Binocular Vision

This paper introduced a method of circular rigid body automatic merging based on binocular vision. During each control cycle, two images were captured by left and right cameras respectively, and processed by edge detection, and then the center coordinate of the circular merging surface in each image could be defined through the method of the least square fitting. Lastly the center three-dimensional coordinate was calculated on the basis of binocular vision theory. The paper adopted the nonparallel binocular vision which was more suitable for actual situation. And the edges of the image were detected with accuracy up to sub-pixel order, bringing the center sub-pixel location. Simple projection method was applied to calculate the three-dimensional coordinate of the merging surface center. The experimental results show that the measuring error is 0.332mm, which can satisfy the requirement of rigid body high precision merging.