Stereo Correction of Binocular Images with Optical Axes Divergent Arrangement

Abstract

Abstract:

Abstract： The traditional stereo correction method based on epipolar geometry is difficult to apply to the binocular imaging and display system with optical axes divergent arrangement for wide field of view. To address this problem, using 3D reconstruction error, a stereo image correction method was proposed based on the disparity characteristics of the binocular images. First, the features of horizontal and vertical disparity of the images captured by binocular imaging system with divergent optical axes was analyzed. Then, based on these characteristics, a pair of affine transformation was proposed for the position error between the optical centers of the binocular cameras and the corresponding projection centers of the wide vision HMD(Head Mounted Display), and two functions of horizontal disparity distortion correction and vertical disparity correction were proposed for the angular deviation between the optical axes of binocular cameras and the corresponding visual axes of the wide vision HMD. Finally, the stereo correction parameters were calculated using the optimization solution with 3D reprojection errors of a set of 3D spatial points. Simulation results show that this method can effectively eliminate the effects on the stereo disparity of the binocular images caused by the position error of optical center and the angular deviation of optical axes when the divergent angle of visual axes is up to 30 °. Real image correction experiment results show that the corrected images have small horizontal distortion, and can provide correct 3D senses with a wide field of view.
Key words：

Key words: stereo vision, image correction, wide vision head mounted display, optical axes divergent arrangement, vertical disparity, 3D re-projection error

CLC Number:

TP 391.9

JING Xu1,QIU Shiguang1,YIN Xuyue1,FAN Xiumin1,2,HE Qichang1,2. Stereo Correction of Binocular Images with Optical Axes Divergent Arrangement[J]. Journal of Shanghai Jiaotong University, 2015, 49(02): 141-149.

References

［1］Zou X, Zou H, Lu J. Virtual manipulatorbased binocular stereo vision positioning system and errors modelling［J］. Machine Vision and Applications, 2012, 23(1): 4363.

［2］闫吉辰,安平,李春华,等.多视成像实时校正与立体显示［J］. 上海大学学报, 2014, 10(1): 9298.

YAN Jichen, AN Ping, LI Chunhua, et al. Realtime rectification and stereo display for multiview imaging ［J］. Journal of Shanghai University, 2014, 10(1): 9298.

［3］Paul P, Fleig O, Jannin P. Augmented virtuality based on stereoscopic reconstruction in multimodal imageguided neurosurgery: Methods and performance evaluation［J］. IEEE Transactions on Medical Imaging, 2005, 24(11): 15001511.

［4］李伟,肖谧,王璨,等.一种对平行配置模式多视点采集系统的几何校正方法［J］.天津工业大学学报, 2013, 32(5): 5156.

LI Wei, XIAO Mi, WANG Can, et al. A geometric correction method for multiview 3D system with parallel configuration ［J］. Journal of Tianjin Ploytechnic University, 2013, 32(5): 5156.

［5］陈华华,杜歆,李宏东.平行多基线立体视觉图像校正［J］. 浙江大学学报, 2004, 38(7): 779803.

CHEN Huahua, DU Xin, LI Hongdong, et al. Rectif ication of images for parallel multiplebasel ine stereo vision ［J］. Journal of Zhejiang University, 2004, 38(7): 779803.

［6］Kanbara M, Okuma T, Takemura H, et al. Stereoscopic video seethrough augmented reality system based on realtime visionbased registration［J］. Proceedings of International Conference on Pattern Recognition, 2000, 15(4): 147151

［7］Takagi A, Yamazaki S, Saito Y, et al. Development of a stereo video seethrough HMD for AR systems ［C］∥In IEEE and ACM International Symposium on Augmented Reality(ISAR 2000). Munich Germany： ISAR, 2000: 6877.

［8］Fusiello A, Trucco E, Verri A. A compact algorithm for rectification of stereo pairs［J］. Machine Vision and Applications, 2000, 12(1): 1622.

［9］刘怡光,孙柏林,石勇涛,等.用于3维重建的立体图像校正［J］. 四川大学学报, 2013, 45(3): 7984.

LIU Yiguang, SUN Bolin, SHI Yongtao, et al. Stereo image rectification suitable for 3D reconstruction ［J］. Journal of Sichuan University, 2013, 45(3): 7984.

［10］卢海平,刘伟奇,康玉思,等.全景三维立体头盔显示光学系统设计［J］. 光学学报, 2012, 32(5): 16.

LU Haiping, LIU Weiqi, Kang Yusi, et al. Design of compact optical system in panoramic threedimensional head mounted display［J］. Acta Optica Sinica, 2012, 32(5): 16.

［11］Kang Y S, Ho Y S. An efficient image rectification method for parallel multicamera arrangement［J］. IEEE Transactions on Consumer Electronics, 2011, 57(3): 10411048.

［12］刘佳音,王忠立,贾云得.一种双目立体视觉系统的误差分析方法［J］. 光学技术, 2003, 29(3): 354357.

LIU Jiayin, WANG Zhongli, JIA Yunde. Error analysis of binocular stereo vision system ［J］. Optical Technique, 2003, 29(3): 354357.

［13］杨维,李歧强. 粒子群优化算法综述［J］. 中国工程科学, 2004, 6(5): 8794.

YANG Wei, LI Qiqiang. Survey of particle swarm optimization algorithms ［J］. Engineering Science, 2004, 6(5): 8794.

［14］Motai Y, Kosaka A. Handeye calibration applied to viewpoint selection for robotic vision［J］. IEEE Transactions on Industrial Electronics, 2008, 55(10): 37313741.

[1]	ZHANG Pengxian1,LI Ming1,FENG Yi2. An Evaluation Method of Weld Formation Based on Binocular Stereo Vision [J]. Journal of Shanghai Jiaotong University, 2015, 49(01): 44-48.
[2]	LIU Hong-Tao, JIANG Ru-Yi, HU Wen, MO Jin-Qiu, WANG Shi-Gang. Inverse Perspective Mapping of General Road Based on Vertical Road Profile Modeling [J]. Journal of Shanghai Jiaotong University, 2012, 46(11): 1770-1773.