Stereo Camera Pose Determination with Error Reduction and Tolerance Satisfaction for Dimensional Measurements

In this paper, we analyze the error in the dimensional measurement due to localization errors in the image plane of a parallel stereo setup. The mean square error of the dimensional measurements is formulated as the optimality criterion for determining camera poses. To determine optimal poses, a nonlinear program that minimizes the MSE while satisfying the sensor constraints of resolution, focus, field of view, visibility, workspace, and incidence angle constraints is presented. The probability that the measurement errors are within a specified tolerance for this setup is formulated. Finally, we evaluate the performance of the model against real data.