Measuring structure parameters and pulse equivalents of a double-chained visual mechanism on a circular orbit

Double-chained visual mechanism on a circular orbit is a novel binocular visual platform which the length, location and direction of the baseline can be adjusted within a circular region. Measuring structure parameters and pulse equivalents of motors is a key question to ensure the accuracy of metric reconstruction of the scene. This paper describes an indirect strategy based on vision measurement for it. Firstly, the geometric model of the mechanism is build. Secondly, the optimal estimation model of the camera center from a target image is proposed. Then the method to compute structure parameters and pulse Equivalents from the fitted trajectory of the camera center is presented. Finally, experiment results show the effectiveness of the method.