Humanoid monocular stereo measuring system with two degrees of freedom using bionic optical imaging system

Jia-Wei Du; Xuan-Yin Wang; Shi-Qiang Zhu

doi:10.1117/1.OE.56.10.104108

26 October 2017 Humanoid monocular stereo measuring system with two degrees of freedom using bionic optical imaging system

Jia-Wei Du, Xuan-Yin Wang, Shi-Qiang Zhu

Author Affiliations +

Optical Engineering, Vol. 56, Issue 10, 104108 (October 2017). https://doi.org/10.1117/1.OE.56.10.104108

Abstract

Based on the process by which the spatial depth clue is obtained by a single eye, a monocular stereo vision to measure the depth information of spatial objects was proposed in this paper and a humanoid monocular stereo measuring system with two degrees of freedom was demonstrated. The proposed system can effectively obtain the three-dimensional (3-D) structure of spatial objects of different distances without changing the position of the system and has the advantages of being exquisite, smart, and flexible. The bionic optical imaging system we proposed in a previous paper, named ZJU SY-I, was employed and its vision characteristic was just like the resolution decay of the eye’s vision from center to periphery. We simplified the eye’s rotation in the eye socket and the coordinated rotation of other organs of the body into two rotations in the orthogonal direction and employed a rotating platform with two rotation degrees of freedom to drive ZJU SY-I. The structure of the proposed system was described in detail. The depth of a single feature point on the spatial object was deduced, as well as its spatial coordination. With the focal length adjustment of ZJU SY-I and the rotation control of the rotation platform, the spatial coordinates of all feature points on the spatial object could be obtained and then the 3-D structure of the spatial object could be reconstructed. The 3-D structure measurement experiments of two spatial objects with different distances and sizes were conducted. Some main factors affecting the measurement accuracy of the proposed system were analyzed and discussed.

Citation Download Citation

Jia-Wei Du, Xuan-Yin Wang, and Shi-Qiang Zhu "Humanoid monocular stereo measuring system with two degrees of freedom using bionic optical imaging system," Optical Engineering 56(10), 104108 (26 October 2017). https://doi.org/10.1117/1.OE.56.10.104108

Received: 23 June 2017; Accepted: 29 September 2017; Published: 26 October 2017

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