Online calibration of stereo camera systems including fine vergence movements

摘要

The invention relates to the control of a stereo camera system, the stereo camera system comprising a stereo camera (1) and actuator means (41, 42, 43) for controlling an orienting and a vergence action of the stereo camera (1), the control method comprising the following steps: - (S1) Evaluating pre-action output information of the stereo camera (1) in order to detect the position of a pattern in the input space of the stereo camera (1); - (S2) Deciding on a targeted post-action position of said pattern (2) in the input space of the stereo camera (1); - (S3) Defining a command for the actuator means (41, 42, 43) by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the stereo camera (1) to actuator control coordinates using a predefined mapping function; - (S4) Orienting the stereo camera (1) by the actuator means (41, 42, 43) according to the defined command in order to carry out an orienting action; and - (S5) Detecting the real post-action position of the pattern (2) in the input space of said sensor means (1); - (S6) Controlling the actuator means to perform a vergence movement of the stereo camera in order to focus both cameras on the same target, - (S7) Calculating a correction signal on the basis of the pre-action position which has actually been moved to the targeted post-action position when carrying out the action, and - (S8) adapting the mapping function taking into account the correction signal and the added executed actuator commands for the orienting and the vergence movement.