FIELD: information-measuring systems.
SUBSTANCE: invention relates to the field of information-measuring systems. The method for external calibration of the binocular vision system (BVS) is based on the use of an underwater manipulator, in the grip of which a calibration object is installed. Using the standard control system of the manipulator, the calibration object is brought to the starting point of the working space of the video camera. The coordinates are converted by standard orthogonal transformations into a rectangular coordinate system (CS), two axes of which are located in the image plane of the left video camera, and the third is directed along the optical axis of the left video camera, the three-dimensional coordinates of the calibration object are determined in CS associated with the BVS, which are then stored in the initial cell of the three-dimensional memory matrix, the differences between the corresponding three coordinates of the calibration object, found using the BVS and obtained after orthogonal transfer from the CS associated with the base of the manipulator, are entered in the same cell of the memory matrix, then a plane is built in which the calibration object is located and which is perpendicular to the optical axes of the BVS video cameras, the calibration object is transferred with a manipulator to another position of this plane observed by the BVS, three coordinates of the new position of the calibration object in the BVS and three differences between the above coordinates are sequentially stored in the next cell of the matrix memory, the same procedure of uniform transfer of the calibration object by the manipulator to new positions observed by the BVS, as well as fixing in the appropriate places of the same type cells of the memory matrix of numerical information about the errors and distortions in the actual location of the calibration object that occur on the plane under consideration, is repeated a certain number of times, which depends on the given calibration accuracy and the distance of the considered plane from the image plane of the left video camera of the BVS, taking into account the size of its field of view.
EFFECT: invention improves the calibration accuracy.
1 cl, 2 dwg
