Effect of Calibration Error on Reconstruction Accuracy of Stereovision System

ABSTRACT

This paper investigates the relation between the calibration error and reconstruction accuracy of stereovision system through simulation experiment. According to the model of a typical non-parallel stereovision system, an array of points in the common view field of the two cameras is projected onto the image plane of the left and right camera respectively, forming the left image and right image. After changing the calibration parameter slightly around its ground truth, the array of points is reconstructed. By comparing the reconstruction result of the points in the array with their original position, the major factors affecting reconstruction accuracy are summarized, which include the abscissa of the principal point, the component of the rotation vector along the ordinate axis, the first order radial distortion coefficient, the component of the translation vector along the abscissa axis, and the abscissa of the principal length. Especially, the abscissa of the principal point and the component of the rotation vector along the ordinate axis have prominent effect on reconstruction accuracy. In the process of calibration, the error of the major factors must be controlled strictly, so that the accuracy requirement of the stereovision system can be satisfied.

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