A Novel Geometric Calibration Method for Active Stereovision System

In this paper, a novel active stereovision calibration method is proposed to determine the time-varying extrinsic parameters of the cameras. This method mainly focuses on the rotation of cameras around the corresponding spatial axes with deviation. In the offline calibration, the installation matrices and baseline matrix are determined by introducing geometrical characteristics that represents the relationship of rotation axis and the transformation of camera rotation. On this basis, the extrinsic parameters can be updated online. The proposed method solves the problem where the spatial relationship between each camera and its rotation axis can be arbitrary, which has been verified by the simulations as well as tracking and measurement experiments on the developed active stereovision platform.