Research On Accurate Target Localization Algorithm For Bionic Compound Eyes

The positioning of insect compound eyes in nature is a kind of visual positioning technology.Its large field of view,small volume and high sensitivity meet the requirements of positioning devices in many occasions.To this end,the research team designed a new type of bionic compound eye positioning device with reference to insect compound eyes.With the gradual promotion of visual positioning in various fields,its positioning accuracy faces more stringent requirements.Therefore,based on the existing bionic compound eye system,this paper studies the method to improve the positioning accuracy of the compound eye system.In order to improve the positioning accuracy of the compound eye system,this paper analyzes the distortion of the imaging system based on the characteristics of the compound eye system.Based on the existing calibration scheme,the optical symmetry-based spot center localization algorithm and the spot data screening algorithm are proposed,and the calibration is redesigned.The program analyzes and explores each step.Finally,the experiment verifies the effect of the improved scheme on the accuracy of compound eye positioning.The specific research contents are as follows:(1)Based on the camera calibration principle,by analyzing the imaging distortion characteristics of the compound eye system,the calibration scheme is designed for the large field of view,complex distortion and many sub-eyes of the compound eye system,and the mathematical model is constructed to build the calibration experiment platform.Aiming at the problem of insufficient positioning accuracy in the current scheme,a light symmetry based spot center localization algorithm and a spot data screening algorithm are proposed,and the realization scheme of compound eye system positioning is redesigned.(2)In order to achieve the target positioning of the compound eye system,the contents of each step of the positioning scheme are discussed in detail.Firstly,the distribution of virtual spherical targets is designed by using the icosahedral subdivision method to ensure the uniformity of the target.Then,by designing the software to control the rotation of the motor to realize the virtual target of the design,the spot image is acquired;the spot image is preprocessed to realize the spot.Segmentation;explore the spot centering algorithm based on energy symmetry and verify its positioning effect;study the spot evaluation index,design the spot data screening algorithm;complete the spot and sub-eye through the arrangement of the spot in the image and the angle information when collecting the image Channel matching;select the appropriate spatial interpolation method to establish the mapping relationship between the target angle and the spot coordinates.(3)Based on the principle of binocular vision localization,the multi-vision visual positioning model of the compound eye system is discussed.In order to verify the influence of the improved scheme on the positioning accuracy of the compound eye system,the target point positioning experiment was carried out in the field of view of the compound eye system.The experimental results show that before and after the scheme improvement,the maximum values of lateral angle errors ?? and ?? are reduced from 0.41mrad and 0.38mrad to 0.32mrad and 0.26mrad,respectively,and the lateral positioning accuracy is improved by 21%and 31%,respectively.The maximum value of the overall angular error is reduced from 4.92mrad to 4.03mrad,and the positioning accuracy is improved by approximately 18%.It shows that the improved scheme has a better effect on the positioning accuracy of the compound eye system,and is more conducive to the practical application of the compound eye system in three-dimensional positioning.