Selection of Cameras Setup Geometry Parameters in Binocular Stereovision

Author

Liu, Junchuan ; Zhang, Yuru ; Li, Zhen

Author_Institution

Robotics Inst., Beihang Univ., Beijing

fYear

2006

fDate

1-3 June 2006

Firstpage

1

Lastpage

6

Abstract

This paper presents a method to determine the cameras setup geometry parameters in binocular stereovision to achieve the best three-dimensional positioning accuracy. Firstly, the cameras setup geometry is described using three independent parameters. Then the three-dimensional positioning error of the binocular stereovision is defined and formulated through triangulation. A graph is given to show how the parameters affect the error. Finally, an experiment is designed and performed to verify the result. An application of the result in our neurosurgical robot system is given to show the effectiveness of the result

Keywords

computational geometry; graph theory; medical robotics; neurophysiology; position control; stereo image processing; binocular stereovision; cameras setup geometry parameters; neurosurgical robot system; positioning accuracy; positioning error; triangulation; Calibration; Cameras; Computational geometry; Error analysis; Geometrical optics; Neurosurgery; Optical sensors; Position measurement; Robot vision systems; Solid modeling; binocular stereovision; cameras setup geometry; positioning accuracy;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252675

Filename

4018791