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《Chinese Journal of Scientific Instrument》 2013-07
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Study on new adaptive calibration technique of coal level detection in coal bin with binocular vision

Qiao Tiezhu1,Chen Xin1,Shen Ruiping2(1.Key Laboratory of Advanced Transducers and Intelligent Control System,Ministry of Education,Taiyuan University of Technology,Taiyuan 030024,China;2.Hudi Coal Company,Jincheng Coal,Jincheng 048214,China)  
In order to study the theory and method of coal level detection with visual image ranging,using the basic principle of pinhole imaging model,we proposed a non-contact and efficient coal bin coal depth measurement method based on adaptive calibration of binocular vision image.Combining Faugeras calibration algorithm and satellite positioning principle,the preset visual sensor coordinates and the key contour corner points extracted from the binocular vision images are substituted into the three-dimensional coordinate adaptive formula;the least squares method is used to obtain the internal and external parameters,and linear optimization method is used to optimize the internal and external parameters;the final internal and external parameters are obtained.According to the pixel information of the acquired images,the depth value of the coal bin coal level is determined.In order to verify the accuracy of the new method,the RMS measurement errors of the overall parameters were compared with those obtained using the Zhang Zhengyou' calibration algorithm.The proposed method does not require knowing any camera parameters,and the solution process is simple and convenient.The experiment results show that the new method has high precision,can meet the requirements of coal bin coal level detection and achieve the automization of the coal level calibration process.
【Fund】: 山西省特色学科项目[晋教财[2012]145号](80010302010053)资助
【CateGory Index】: TP391.41
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