Table 4 Comparison results of our stereo calibration method with the original method
From: Calibration and rectification of vertically aligned binocular omnistereo vision systems
| Â | Rotation matrix R | Translation vector T |
|---|---|---|
Stereo calibration results of the improved method | \( \boldsymbol{R}=\left[\begin{array}{ccc}\hfill 0.9993\hfill & \hfill 0.0259\hfill & \hfill -0.0269\hfill \\ {}\hfill -0.0255\hfill & \hfill 0.9996\hfill & \hfill 0.0131\hfill \\ {}\hfill 0.0273\hfill & \hfill -0.0124\hfill & \hfill 0.9996\hfill \end{array}\right] \) | \( \boldsymbol{T} =\left[\begin{array}{c}\hfill 0.3301\hfill \\ {}\hfill 1.3205\hfill \\ {}\hfill \hbox{-} 330.1302\hfill \end{array}\right] \) |
Stereo calibration results of the original method | \( \boldsymbol{R}=\left[\begin{array}{c}\hfill 0.9997\hfill \\ {}\hfill -0.0215\hfill \\ {}\hfill -0.0120\hfill \end{array}\kern1em \begin{array}{c}\hfill 0.0217\hfill \\ {}\hfill 0.9995\hfill \\ {}\hfill 0.0221\hfill \end{array}\kern1em \begin{array}{c}\hfill 0.0115\hfill \\ {}\hfill -0.0223\hfill \\ {}\hfill 0.9997\hfill \end{array}\right] \) | \( \boldsymbol{T}=\left[\begin{array}{c}\hfill -7.9351\hfill \\ {}\hfill 4.4249\hfill \\ {}\hfill -322.8688\hfill \end{array}\right] \) |