Long-working-distance 3D measurement with a bionic curved compound-eye camera

Abstract

The bionic curved compound-eye camera is a bionic-inspired multi-aperture camera, which can be designed to have an overlap on the field of view (FOV) in between adjacent ommatidia so that 3D measurement is possible. In this work, we demonstrate the 3D measurement with a working distance of up to 3.2 m by a curved compound-eye camera. In that there are hundreds of ommatidia in the compound-eye camera, traditional calibration boards with a fixed-pitch pattern arrays are not applicable. A batch calibration method based on the CALTag calibration board for the compound-eye camera was designed. Next, the 3D measurement principle was described and a 3D measurement algorithm for the compound-eye camera was developed. Finally, the 3D measurement experiment on objects placed at different distances and directions from the compound-eye camera was performed. The experimental results show that the working range for 3D measurement can cover the whole FOV of 98° and the working distance can be as long as 3.2 m. Moreover, a complete depth map was reconstructed from a raw image captured by the compound-eye camera and demonstrated as well. The 3D measurement capability of the compound-eye camera at long working distance in a large FOV demonstrated in this work has great potential applications in areas such as unmanned aerial vehicle (UAV) obstacle avoidance and robot navigation.