Vision measurement method with single camera and 3-axis accelerometer sensor

In this paper, we propose vision measurement method for estimating the distance or size of the object in static scene, which requires single camera with 3-axis accelerometer sensor and rotated around a fixed axis. First, we formulate the rotation matrix and translation vector from one coordinate system of the camera to another in terms of the rotation angle, which can be figured out from the readouts of the sensor. Second, with the camera calibration data and through coordinate system transformation, we propose a method for calculating the orientation and position of the rotation axis relative to camera coordinate system. Finally, given the rotation angle and the images of the object in static scene at two different positions, one before and the other after camera rotation, the 3D the coordinate of the point on the object can be determined. Experimental results show the validity of our method.