Compound eye binocular vision ranging method based on target motion

GAO Wenjing; YANG Yuli; XING Qiang; XU Haili

doi:10.5768/JAO202041.0303005

Journal of Applied Optics > 2020 > 41(3): 571-579. > DOI: 10.5768/JAO202041.0303005

GAO Wenjing, YANG Yuli, XING Qiang, XU Haili. Compound eye binocular vision ranging method based on target motion[J]. Journal of Applied Optics, 2020, 41(3): 571-579. DOI: 10.5768/JAO202041.0303005

Citation:

GAO Wenjing, YANG Yuli, XING Qiang, XU Haili. Compound eye binocular vision ranging method based on target motion[J]. Journal of Applied Optics, 2020, 41(3): 571-579. DOI: 10.5768/JAO202041.0303005

Citation:

GAO Wenjing, YANG Yuli, XING Qiang, XU Haili. Compound eye binocular vision ranging method based on target motion[J]. Journal of Applied Optics, 2020, 41(3): 571-579. DOI: 10.5768/JAO202041.0303005

PDF (5032 KB)

Compound eye binocular vision ranging method based on target motion

School of Mechanical Engineering, Nantong University, Nantong 226019, China

More Information

Received Date: October 16, 2019
Revised Date: November 02, 2019
Available Online: May 29, 2020

Graphical Abstract

Abstract

Abstract

The insect (mantis) compound eye realizes the stereo vision by using dynamic difference of the target, which has the characteristics of large field of view, simple calculation and high real-time performance, and is a new direction of the stereo vision research. In order to realize the application of compound eye stereo vision in robot vision navigation, according to the compound eye structure and the information processing mechanism, a target rapid detection and location method based on ring photoelectric sensor was proposed and studied. Firstly, a ring sensor based on 6° angle distribution of 60 photodiodes was built to form an ring bionic compound eye with 360° field of view. Secondly, a rapid detection model of the moving target azimuth based on optical flow principle was established. The Fourier fitting method was adapted to optimize the azimuth detection model, and the simple and rapid detection in the range of the large field of view of the moving target azimuth and the target distance was realized. The experimental results show that: 1) the real-time detection of the target azimuth at the motion velocity of 30 mm/s in the range of 375 mm can be realized, and the measurement error is within 2°; 2) based on the target azimuth detection model, the stereo vision ranging of the binocular array sensor in the range of 300 mm×375 mm field of view overlap with an average measurement error of 10 mm can be realized. The moving target azimuth detection model based on optical flow can be used to realize the dynamic real-time detection of the moving target spatial position, and has broad application prospects in the fields of motion detection and vision navigation.
- visual perception,
- bionic compound eye,
- optical flow,
- motion estimation,
- positioning,
- binocular vision,
- biological optics

FullText(HTML)

References (25)

References

[1]	NITYANANDA V, READ J C A. Stereopsis in animals: evolution, function and mechanisms[J]. Journal of Experimental Biology,2017,220(14):2502-2512. doi: 10.1242/jeb.143883
[2]	ROE A W, PARKER A J, BORN R T, et al. Disparity channels in early vision[J]. Journal of Neuroscience,2007,27(44):11820-11831. doi: 10.1523/JNEUROSCI.4164-07.2007
[3]	PARKER A J. Binocular depth perception and the cerebral cortex[J]. Nature Reviews Neuroscience,2007,8(5):379-391. doi: 10.1038/nrn2131
[4]	李胜旺, 陈凯悦. 一种基于双目视觉原理的距离测量系统的设计[J]. 信息通信,2017,30(8):61-63. doi: 10.3969/j.issn.1673-1131.2017.08.030 LI Shengwang, CHEN Kaiyue. Design of a distance measuring system based on binocular vision principle[J]. Information & Communications,2017,30(8):61-63. doi: 10.3969/j.issn.1673-1131.2017.08.030
[5]	吴恩启, 田士强, 徐世鹏, 等. 单相机立体视觉测量技术的研究[J]. 光学技术,2018,44(1):1-5. WU Enqi, TIAN Shiqiang, XU Shipeng, et al. Research on single-camera stereo vision measurement technology[J]. Optical Technique,2018,44(1):1-5.
[6]	杨景豪, 刘巍, 刘阳, 等. 双目立体视觉测量系统的标定[J]. 光学精密工程,2016,24(2):300-308. doi: 10.3788/OPE.20162402.0300 YANG Jinghao, LIU Wei, LIU Yang, et al. Calibration of binocular vision measurement system[J]. Optics and Precision Engineering,2016,24(2):300-308. doi: 10.3788/OPE.20162402.0300
[7]	READ J. Early computational processing in binocular vision and depth perception[J]. Progress in Biophysics and Molecular Biology,2005,87(1):77-108. doi: 10.1016/j.pbiomolbio.2004.06.005
[8]	LAZAROS N, SIRAKOULIS G C, GASTERATOS A. Review of stereo vision algorithms: from software to hardware[J]. International Journal of Optomechatronics,2008,2(4):435-462. doi: 10.1080/15599610802438680
[9]	VAN DER WILLIGEN, ROBERT F. Owls see in stereo much like humans do[J]. Journal of Vision,2011,11(7):10. doi: 10.1167/11.7.10
[10]	FLOREANO D, PERICET-CAMARA R, VIOLLET S, et al. Miniature curved artificial compound eyes[J]. Proceedings of the National Academy of Sciences of the United States of America,2013,110(23):9267-9272. doi: 10.1073/pnas.1219068110
[11]	杨预立, 邢强, 姚建南, 等. 仿复眼视觉测距传感器视轴的快速标定法[J]. 光子学报,2019,48(2):172-180. YANG Yuli, XING Qiang, YAO Jiannan, et al. Rapid optic axis calibration of bio-vision ranging sensors based on compound eyes[J]. Acta Photonica Sinica,2019,48(2):172-180.
[12]	郭书基, 史立芳, 曹阿秀, 等. 基于大视场人工复眼定位技术[J]. 光子学报,2016,45(5):93-98. GUO Shuji, SHI Lifang, CAO Axiu, et al. Study of large field of view compound-eye orientation technology[J]. Acta Photonica Sinica,2016,45(5):93-98.
[13]	车静, 卢鹏, 韩焱, 等. 仿生复眼视觉系统中全景图拼接算法[J]. 应用光学,2013,34(5):815-819. CHE Jing, LU Peng, HAN Yan, et al. Panorama mosaic in bionic compound eye visual system[J]. Journal of Applied Optics,2013,34(5):815-819.
[14]	简慧杰, 何建争, 王克逸. 用于大视场三维探测的人工复眼系统几何标定[J]. 光学学报,2017,37(2):174-182. JIAN Huijie, HE Jianzheng, WANG Keyi. Geometric calibration of artificial compound eye system for large field of view three-dimensional detection[J]. Acta Optica Sinica,2017,37(2):174-182.
[15]	NITYANANDA V, TARAWNEH G, HENRIKSEN S, et al. A novel form of stereo vision in the praying mantis[J]. Current Biology,2018,28(4):588-593. doi: 10.1016/j.cub.2018.01.012
[16]	ZIMMERMAN J K. Praying mantis[J]. Pleiades: Literature in Context,2018,38(1):89. doi: 10.1353/plc.2018.0037
[17]	AGRAWAL S, DEAN B K, GRIMM W, et al. Removal of signal artifacts from biomimetic vision sensor based on the common housefly[C]//2017 IEEE International Symposium on Medical Measurements and Applications (MeMeA). USA: IEEE, 2017: 56-61.
[18]	SERRES J, RAHARIJAONA T, VANHOUTTE E, et al. Event-based visual guidance inspired by honeybees in a 3D tapered tunnel[C]//2016 Second International Conference on Event-Based Control, Communication, and Signal Processing (EBCCSP). USA: IEEE, 2016: 1-4.
[19]	CHAO H Y, GU Y, NAPOLITANO M. A survey of optical flow techniques for robotics navigation applications[J]. Journal of Intelligent & Robotic Systems,2014,73(1/2/3/4):361-372.
[20]	VANHOUTTE E, MAFRICA S, RUFFIER F, et al. Time-of-travel methods for measuring optical flow on board a micro flying robot[J]. Sensors,2017,17(3):571. doi: 10.3390/s17030571
[21]	王超, 纪明, 王娇颖, 等. 一种基于数字图像的多目标检测方法[J]. 应用光学,2015,36(3):386-390. doi: 10.5768/JAO201536.0302001 WANG Chao, JI Ming, WANG Jiaoying, et al. Multi-target detecting algorithm based on digital image[J]. Journal of Applied Optics,2015,36(3):386-390. doi: 10.5768/JAO201536.0302001
[22]	HORN B K P, SCHUNCK B G. Determining optical flow[J]. Artificial Intelligence,1981,17(1/2/3):185-203. doi: 10.1016/0004-3702(81)90024-2
[23]	NAGEL H H. Displacement vectors derived from second-order intensity variations in image sequences[J]. Computer Vision, Graphics, and Image Processing,1983,21(1):85-117. doi: 10.1016/S0734-189X(83)80030-9
[24]	SRINIVASAN M V. An image-interpolation technique for the computation of optic flow and egomotion[J]. Biological Cybernetics,1994,71(5):401-415. doi: 10.1007/BF00198917
[25]	BARRON J L, FLEET D J, BEAUCHEMIN S S. Performance of optical flow techniques[J]. International Journal of Computer Vision,1994,12(1):43-77. doi: 10.1007/BF01420984

[1]	MA Dazhi, YU Binchao, ZHANG Yanze, LIU Wei, YUE Yi, YANG Jizhi, CHEN Qintao. Measurement system of large-scale high reflective component based on binocular vision[J]. Journal of Applied Optics, 2021, 42(4): 577-585. DOI: 10.5768/JAO202142.0401002
[2]	WANG Congzheng, HU Song, FENG Chang, GAO Chunming. Deformation detection system of fuel assembly based on underwater binocular vision[J]. Journal of Applied Optics, 2019, 40(2): 246-252. DOI: 10.5768/JAO201940.0202001
[3]	Wang Jing, Li Shuangjiang, Tian Shizhu. Application of binocular stereo vision technology in structural test[J]. Journal of Applied Optics, 2018, 39(6): 821-826. DOI: 10.5768/JAO201839.0601008
[4]	He Wenjun, Wang Jiake, Fu Yuegang, Mo Shijun. On-line measurement system of high voltage insulator based on binocular stereo vision[J]. Journal of Applied Optics, 2018, 39(4): 528-535. DOI: 10.5768/JAO201839.0403003
[5]	Xiong Xin, Sun Dong-mei, Fan Wen, Xu Hai-peng. Calibration technique of binocular vision measurementsystem using light pen[J]. Journal of Applied Optics, 2015, 36(5): 784-790. DOI: 10.5768/JAO201536.0503004
[6]	Liu Xiao-dong, Hou Jian-wei, Zhu Jia-li, Qiu Wei-gen, Sun Jian-hua. Design for visual comfort of binocular optical system with large exit pupil[J]. Journal of Applied Optics, 2015, 36(1): 15-18. DOI: 10.5768/JAO201536.0101003
[7]	LIN Hong, LIANG Kun, WANG Xin-min, LU jin-jun. Oceanic suspended particles monitoring based on bio-optical algorithm[J]. Journal of Applied Optics, 2011, 32(3): 486-491.
[8]	LI You, ZHANG Heng, LEI Zhi-hui. Detection and tracking of light blobs based on center-surround mechanism of biological vision[J]. Journal of Applied Optics, 2008, 29(2): 283-288.
[9]	LI Jian-ping, LI Dong. Applications of OCT Technique in Developmental Biology[J]. Journal of Applied Optics, 2005, 26(2): 60-64.
[10]	LI Jian-ping, CHEN Bing-quan. Validity of the Diffusion Approximation in Determining the Optical Properties of Biological[J]. Journal of Applied Optics, 2005, 26(1): 20-24.

Cited By

Cited by

Periodical cited type(2)

1.	袁光福，于潮，王伟超，李刚平，吴伟国. 基于RTK定位无人机的光电经纬仪姿态角测量精度检测方法. 激光与光电子学进展. 2024(05): 242-247 .
2.	胡小丽，张伟光，张思琪，张三喜，张玉伦，王晓华. 一种导引头性能可视化评估方法. 应用光学. 2019(06): 993-997 . 本站查看

Other cited types(0)

Get Citation

PDF

XML

Article views (1549) PDF downloads (63) Cited by(2)

Turn off MathJax

Article Contents

Abstract

References

Compound eye binocular vision ranging method based on target motion