Trinocular matching realized by a monocular stereovision sensor for parallel manipulator

This paper introduces a new monocular stereo-vision sensor system which is suitable for visual servo control of parallel manipulator, consisting of one CCD camera and four pairs of symmetry mirrors, is designed for close quarters visual detection and motion control. The trinocular matching models is established from the geometric parameters, such as the angle between two face to face symmetric mirrors, angle and distance between two pairs of mirrors and the distance between CCD camera and mirrors. The trinocular Longuet-Higgins criteria has been introduced. The sensor performance and measuring accuracy are analyzed, which is necessary for the optimal design of the sensor. The binocular and trinocular search areas based on epipolar line theory are compared, it is proved that the search area is obviously decreased by using trinocular Longuet-Higgins criterion.