Error Analysis on Camera Calibration in Binocular Stereo Vision

In order to resolve the problem of orientation on longan (or lychee)-harvesting robot, an experimentation on camera calibration based on binocular parallax theory was given. Logical foci and baseline between cameras were obtained by taking photos on character dots located on the calibration board, dealing with and analyzing the experimental data. After that, source of errors existing in experiment system were analyzed, and corresponding methods of compensation were also discussed in the paper. Analysis results show that the method of total visual errors correction based on polar geometry transform more coincide with our experiment system.