The proposed camera calibration method is applied in the stereo vision systems, and a comparative analysis between the real and calibrated three-dimensional data points is performed to validate the improvements. With the obtained angles, the system finds the three-dimensional point coordinates through a triangulation process. Then, the system locates the two-dimensional pixel coordinates of the three-dimensional point in both images and coverts them into angles. To obtain particular three-dimensional point coordinates, the stereo vision systems use the information of two images taken by two different cameras. The proposed camera calibration method uses the least square method to model the error caused by the image digitalization and the lens distortion. This article presents a novel camera calibration method to improve the accuracy of stereo vision systems for three-dimensional point localization. It can also be implemented directly into the rangefinder’s measurement algorithm to estimate the measurement uncertainty based on the emission of a single pulse rather than a series of pulses.Ĭomputer vision systems have demonstrated to be useful in applications of autonomous navigation, especially with the use of stereo vision systems for the three-dimensional mapping of the environment. This greatly improves capabilities of analysis of expected performance of the device. It can be used to estimate the measurement uncertainty of a FW LiDAR at an early design stage. This formula extends the base knowledge in the domain of laser p-ToF distance measurements. All obtained results were used to formulate the general relationship between the measurement uncertainty of the SDPA algorithm and the parameters of the received echo signals. In the presented work, measurement uncertainty was evaluated using simulation tests for various parameters of the echo pulse. This position represents the maximum intensity of the incoming echo signal and is related to the round-trip propagation time of the laser pulse.
To determine the pulse transit time and measure the distance, the position of the vertex of this parabola is sought.
This method is based on the acquisition of the full-waveform of the echo pulse signal and approximation of its shape by the second-degree polynomial (we called it SDPA for short).
The main objective of the study was to evaluate the distance calculation method developed by the authors.
The article presents results of research on the influence of changes in parameters of the digitally recorded echo signals on the uncertainty of pulsed Time-of-Flight (p-ToF) laser distance measurements.
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