Binocular initial location and extrinsic parameters real-time calculation for bionic eye system

A simple binocular visual equipment is designed in this paper, which is mainly composed by two CCD cameras and four stepping motors. Firstly, the two cameras´ initial location is determined based on rough location by moving to the limiting position, and precise location by driving the image center aligning with fitted ellipse center. Then, the transformation matrix between coordinate systems of motion module end and the camera is calibrated with eye-in-hand calibration method, which adopts multi frame images and a method based on Levenberg-Marquardt iterative algorithm to improve its precision and robustness. Finally, the updating equations of transformation matrix between two camera´s coordinate systems are deduced with high precision and real-time property to guarantee the binocular visual system´s depth perception. The performance of the above methods is confirmed by comparative experiments.