stereo perception
1.Of all the Lunar Rover key technologies, the main task of the stereo vision system is to achieve onboard perception and fusion of the complex lunar terrain, by capturing images, matching feature points, producing depth map, recognizing obstacles and reconstructing 3D scene, in order to navigate and avoid obstacle automatically in unknown environment.
2.In the application of mini-micro-robot visual perception,there is a need for fish-eye lenses for capturing wide field of view for navigation.Though fish-eye lenses provide a wide field of view (～180°),they introduce significant distortion in images and the acquired images are quite warped,which makes conventional camera calibration algorithms no longer work well.This paper presents an accurate calibration framework for fish-eye lens (a high distortion lens) camera stereo vision system.The accurate calibration model is formulated with radial distortion,decentering distortion and thin prism distortion based on the fisheye deformation model.Using fish-eye and non-linear camera model,the author employs Levenberg-Marquardt method to realize precise non-linear calibration for wide-view-scene dense depth image recovery.
