On-line three-dimensional coordinate measurement of dynamic binocular stereo vision based on rotating camera in large FOV

A dynamic binocular stereo vision (DBSV) based on a non-zoom rotating camera in a large field of view (FOV) is established herein. A novel two-point method is proposed to estimate the initial parameters of the camera quickly. The intrinsic parameters and roll angle of each camera remains constant, and the pitch and yaw angles after the camera rotates are directly estimated from output of high-precision two-axes platform, which makes it possible that three-dimensional (3D) coordinate can be measured online after rotation. Moreover, a target matching algorithm based on moving DLT is proposed to achieve automatic alignment of the camera. The accuracy of 3D coordinate measurement is evaluated on various synthetic and real data, and the DBSV is suitable for occasions where extremely high accuracy is not required in large FOV.