Selection of Cameras Setup Geometry Parameters in Binocular Stereovision

摘要

This paper presents a method to determine the cameras setup geometry parameters in binocular stereovision to achieve the best three-dimensional positioning accuracy. Firstly, the cameras setup geometry is described using three independent parameters. Then the three-dimensional positioning error of the binocular stereovision is defined and formulated through triangulation. A graph is given to show how the parameters affect the error. Finally, an experiment is designed and performed to verify the result. An application of the result in our neurosurgical robot system is given to show the effectiveness of the result