Three-dimensional (3D) triangulation based on active binocular vision has increasing\namounts of applications in computer vision and robotics. An active binocular vision system\nwith non-fixed cameras needs to calibrate the stereo extrinsic parameters online to perform 3D\ntriangulation. However, the accuracy of stereo extrinsic parameters and disparity have a significant\nimpact on 3D triangulation precision. We propose a novel eye gaze based 3D triangulation\nmethod that does not use stereo extrinsic parameters directly in order to reduce the impact.\nInstead, we drive both cameras to gaze at a 3D spatial point P at the optical center through visual\nservoing. Subsequently, we can obtain the 3D coordinates of P through the intersection of the two\noptical axes of both cameras. We have performed experiments to compare with previous disparity\nbased work, named the integrated two-pose calibration (ITPC) method, using our robotic bionic eyes.\nThe experiments show that our method achieves comparable results with ITPC.
Loading....